JP2012172782A - Vibration control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve vibration control accuracy by achieving proper vibration control in both a low-frequency domain and a high-frequency domain under a constraint of poor arithmetic capacity such as of an inexpensive calculator.SOLUTION: The device includes; a basic order drive instruction arithmetic unit 32 which calculates a basic order drive instruction Ifor canceling a basic order component of a detected vibration detected by a vibration detection unit 1; a high order drive instruction arithmetic unit 33 which calculates a high order drive instruction Ifor canceling a high order component of the detected vibration detected by the vibration detection unit 1; a multiple order control mode for driving an excitation means 2 based on instructions obtained by composing the drive instructions of both of the arithmetic units 32, 33; a high frequency control mode for driving the excitation means 2 based on the drive instruction calculated by the basic order arithmetic unit 32; and a mode selection unit 36 which switches either one of the multiple order control mode and the high frequency control mode to the other based on a frequency acquired at a position pos to be vibration-controlled.

Description

  The present invention relates to a vibration damping device that vibrates vibrations that are in opposite phases to generated vibrations and cancels them out.

  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 linear actuator (vibration means) at a position where vibration is to be suppressed. As such a conventional vibration damping device, for example, in FIG. 10 of Patent Document 1, a vibration detection unit using an acceleration sensor that detects vibration at a position (seat) to be damped, and detection detected by the vibration detection unit A primary frequency calculation unit and a sine wave generator that generate a primary current command for canceling vibration of a basic order component (primary component) of vibration, and a high-order component (secondary component of detected vibration) 1), a secondary frequency calculation unit that generates a secondary current command for canceling vibrations) and a sine wave transmitter, and 1 generated by calculation by the primary frequency calculation unit and the secondary frequency calculation unit. An apparatus is disclosed that performs vibration suppression in a multi-order control mode that drives an excitation means based on a command obtained by combining a secondary current command and a secondary current command.

International Publication No. 2007/129627

  In the above-described multi-order control mode, not only the vibration of the basic order component (primary component) but also the high-order component (N Since the vibration of the second order component, N is a positive number equal to or greater than 2, cannot be ignored, the control is to control the vibration of the basic order component and the higher order component. In order to prevent control failure when sampling the vibration waveform at the position to be controlled in vibration suppression control at a predetermined number of samplings per vibration period, a predetermined number of samplings and frequencies per vibration period are predetermined. It is necessary to complete the calculation of the basic order component (first order) and the higher order component (second order) within an allowable calculation time (calculation tap) determined in accordance with.

  However, if it is attempted to perform vibration suppression in the multi-order control mode in a high frequency region using a low-cost arithmetic unit having poor computing capability, the basic order component (first order) and the higher order component ( The time required for the calculation of the (second order) becomes longer, and the vibration suppression control in the multi-order control mode cannot be performed in the high frequency region.

  On the other hand, in the high frequency region, the high-order component (N-order component) of vibrations generated at the position to be damped is often large enough to be ignored, so it is fundamental to keep the calculation time within the allowable calculation time. It is considered that the high frequency control mode in which only the order calculation is performed is effective. However, if the vibration suppression in the high frequency control mode is performed in the low frequency region, the vibration suppression accuracy is impaired because the vibrations of the higher order components are not targeted for vibration suppression.

  In this way, in the vibration damping device equipped with only one of the multi-order control mode or the high frequency control mode, appropriate vibration damping is possible in either the low frequency region or the high frequency region. In any one of the regions, vibrations cannot be sufficiently canceled out, and the vibration suppression accuracy is reduced.

  The present invention has been made paying attention to such problems, and its purpose is to appropriately control both low frequency regions and high frequency regions under the constraints of poor computing capabilities such as low-cost computing units. It is to provide a vibration control device that can execute vibration control and improve vibration control accuracy.

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

  That is, the vibration damping device according to the present invention is a vibration damping device that cancels out the vibration generated at the vibration source and the vibration generated by the vibration excitation means at the position where vibration is to be suppressed, and the vibration at the position where vibration is to be suppressed. And a basic order drive command for generating vibrations that are out of phase with respect to the basic order component out of the detected vibrations detected by the vibration detecting unit through vibration means at the position to be damped. A higher-order drive command for generating vibrations that are in phase opposite to the higher-order component among the detected vibrations detected by the vibration detection unit through a vibrating means at a position to be damped. Within the allowable calculation time determined according to the predetermined number of samplings per vibration period and vibration frequency, and the calculation of the basic order drive command calculation unit and the high order drive command calculation unit Performance In order to complete both calculations and drive the excitation means based on a command obtained by combining the drive commands of both calculation units, and the higher-order drive command within the allowable calculation time. High-frequency control for driving the excitation means based on the drive command calculated by the basic order calculation unit by executing the calculation of the basic order drive command calculation unit while the calculation of the calculation unit is stopped. An external command indicating the mode and the frequency of vibration at the position to be damped or the control mode to be executed is acquired, and based on the acquired frequency or the external command, either the multi-order control mode or the high-frequency control mode And a mode selection unit for switching from one to the other.

  The allowable calculation time is the sampling period when sampling the vibration waveform at the position to be damped at a predetermined number of samplings per vibration period, and the maximum calculation time that can be taken within the range that does not cause control failure. means.

  Thus, an external command indicating the frequency of vibration at the position to be damped or the control mode to be executed is acquired, and either the multi-order control mode or the high-frequency control mode is acquired based on the acquired frequency or external command. Since switching from one to the other, the calculation of the basic order drive command calculation unit and the calculation of the high-order drive command calculation unit are completed within the allowable calculation time determined according to the predetermined number of samplings per vibration cycle and the current frequency. It is possible to set the multi-order control mode for the frequency to be used, and the high frequency control mode for the frequency that is not completed. Therefore, it is possible to perform appropriate vibration suppression control, and it is possible to improve the vibration suppression accuracy.

  In order to prevent chattering that frequently causes switching of the control mode and stabilize control, the mode selection unit switches to the high frequency control mode when the acquired frequency exceeds a predetermined first threshold. At the same time, it is preferable to switch to the multi-order control mode when the acquired frequency falls below a second threshold set lower than the first threshold.

  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, since the present invention switches from one of the multiple-order control mode or the high-frequency control mode to the other based on the current frequency or the external command, the basic order component and the high-order component are within the allowable calculation time determined by the frequency. It is possible to set the multi-order control mode when the frequency of the calculation of the next component is complete, and the high frequency control mode when the frequency is not complete. Appropriate vibration suppression control can be performed in any high frequency region, and vibration suppression accuracy can be improved. Therefore, it is possible to provide a vibration damping device with improved vibration damping accuracy without increasing the cost required for the arithmetic unit.

1 is a schematic overall schematic diagram of a vibration damping device according to an embodiment of the present invention. The schematic block diagram of a structure and function of a control means. Explanatory drawing regarding the vibration of the position which should be controlled. The figure which shows the relationship between a vibration frequency and permissible calculation time. The figure which shows the relationship between the calculation time and allowable calculation time in multiple order control mode. The figure which shows the relationship between the calculation time in the high frequency control mode, and permissible calculation time. The figure which shows the relationship between a frequency and the control mode to perform.

  Hereinafter, a vibration damping device according to an embodiment of the present invention will be described with reference to the drawings.

As shown in FIG. 1, the vibration damping device of the present embodiment is mounted on a vehicle such as an automobile, and vibration detection such as an acceleration sensor that detects vibration at a position pos to be damped such as a seat st. and part 1, the vibration means 2 using a linear actuator for generating vibrations Vi2 by vibrating the auxiliary mass 2a having a predetermined mass, the ignition pulse signal S ₀ and the vibration detecting portion of the engine which is a vibration generating source gn And a control means 3 for generating a canceling vibration Vi4 at the position pos to be damped by inputting the detection signal from 1 and transmitting the vibration Vi2 generated by the oscillating means 2 to the position pos to be damped. The vibration Vi1 generated by the vibration generation source gn of the engine or the like mounted on the body frame frm via the mounter gnm and the canceling vibration Vi generated at the position pos to be controlled through the vibration means 2 4 is canceled at the position pos to be damped, and the vibration at the position pos to be damped is reduced.

  As shown in FIG. 1, the vibration Vi1 generated at the vibration generation source gn changes in amplitude or phase until reaching the position pos to be damped, and becomes a vibration Vi3. Vi2 changes its amplitude or phase until reaching a position pos to be damped, and becomes a vibration Vi4. In the figure, the transfer characteristic on the transfer path from the vibration source gn to the position pos to be damped is G ′, and the transfer characteristic on the transfer path from the vibration means 2 to the position pos to be damped is G. Represents.

As shown in FIGS. 3A to 3C, the vibration at the position to be damped is the vibration of the basic order component (first order component) and the higher order component (Nth order component, where N is a positive number of 2 or more. ) And vibration. As shown in FIG. 2, the control means 3 reverses the vibration of the fundamental order component (see FIG. 3 (b)) among the detected vibrations detected by the vibration detection unit 1, in order to appropriately suppress this vibration. A basic order drive command calculation unit 32 for calculating a basic order drive command I ₁ for generating the phase vibration to the position pos to be damped through the vibration means 2, and the detected vibration detected by the vibration detection unit 1. vibration of the inner high-order components higher driving for calculating the higher-order drive command I _N for generating through vibrating means 2 to the position pos should damp the vibrations opposite phases with respect to (FIG. 3 (c) refer) The command calculation unit 33 is a main component, and in addition, a frequency detection unit 31 and a motor command conversion unit 34 are provided.

As shown in FIG. 2, the frequency detector 31 detects the frequency f of vibration at the position pos to be damped based on a signal related to the vibration Vi1 generated at the vibration source gn. The detected frequency f is used as the basis of the frequency of the basic order drive command I ₁ and the higher order drive command I _N. In the present embodiment, the ignition pulse signal S ₀ of the engine as the vibration associated with vibration Vi1 generated by the vibration generating source gn is inputted from the ECU or the like. Of course, the detection pulse signal from the sensor for detecting the rotational speed of the engine crankshaft, for example, instead of the ignition pulse signal S ₀ of the engine, and may be other signals.

As shown in FIG. 2, the basic order drive command calculation unit 32 calculates a basic order drive command I ₁ for canceling out the vibration of the basic order component (see FIG. 3B) using an adaptive control algorithm. Since the configuration is the same as that disclosed in Patent Document 1, a detailed description thereof is omitted, but a reference wave (sine wave) having the same frequency as the frequency f detected by the frequency detector 31 is generated, and this reference wave is generated. by changing the reference wave amplitude or phase by performing filtering using an adaptive filter 32f of the adaptive algorithm for generating a fundamental-order drive command I ₁ against. Further, the reference order drive command calculation unit 32 uses the residual vibration (Vi3 + Vi4) remaining as the cancellation error input by the vibration detection unit 1 as the evaluation vibration, and sequentially updates the adaptive filter 32f so that the evaluation vibration is reduced. The basic order drive command I ₁ calculated by the basic order drive command calculation unit 32 is input to the motor command conversion unit 34.

As shown in FIG. 2, the high-order drive command calculation unit 33 cancels out high-order component vibrations (see FIG. 3C) using an adaptive control algorithm in the same manner as the basic order drive command calculation unit 32 described above. Therefore, the higher-order drive command _IN is calculated. The high-order drive command I _N calculated by the high-order drive command calculation unit 33 is combined with the basic order drive command I ₁ by the adder 35 and input to the motor command conversion unit 34.

As shown in FIG. 2, the motor command conversion unit 34 applies the energization corresponding to the basic order drive command I ₁ (or the basic order drive command I ₁ + the higher order drive command I _N ) to the vibration means 2. The vibration means 2 is driven to generate a cancellation vibration Vi4 at the position pos to be damped.

In the above configuration, vibration suppression in the multi-order control mode is executed as follows. That is, in the multi-order control mode, as shown in FIGS. 2 and 5, the calculation in the basic order drive command calculation unit 32 and the calculation in the high-order drive command calculation unit 33 are sequentially executed, and both calculation units 32 and 33 are executed. This is a control for driving the vibration means 2 based on a command (I ₁ + I _N ) obtained by combining the drive commands I ₁ and I _N. Specifically, the control timings t ₁ , t ₂ , t ₃ , t ₄ ... Repeatedly appearing according to the current control period are used as clocks, and at the first control timing t ₁ performs operations, perform operations according to the second time control timing t ₂ in order drive command computation unit 33, a series of not to perform the operation even in the arithmetic unit 32, 33 of either the third time control timing t ₃ Repeat the operation. Vibration detection (sampling) by the vibration detection unit 1 is performed at each control timing t ₁ and t ₂ , and arithmetic processing is executed based on the sampled signals until the next control timing arrives. To complete. Of course, to repeat a series of operations of performing calculation by first-time control timing t ₁ calculation of the basic order by the fundamental-order drive command calculation unit 32, the second time high-order driver command computation unit 33 in the control timing t ₂ of The control timing at which no calculation is performed in any of the calculation units 32 and 33 may be omitted.

Here, as shown in FIG. 4, sampling is performed when the vibration waveform at the position pos to be damped is sampled at a predetermined number of samplings per vibration period (four in the drawing for convenience of illustration). The period is determined by a predetermined number of samplings per vibration period and a frequency f. Specifically, as shown in FIG. 4, the frequency becomes longer as the frequency becomes lower, and becomes shorter as the frequency becomes higher. In vibration suppression control, control is not in time unless the time required to calculate the basic order component (first order) and the higher order component (second order) determined by the computing capability of the computing unit is shorter than the sampling period. The sampling period can be said to be the maximum value of the calculation time that can be taken in a range that does not cause the control failure, that is, the allowable calculation time P. That is, as shown in FIG. 5A, when the multi-order control mode is performed in the low frequency region, the basic order drive command computation unit 32 and the high order drive command computation unit 33 determined by the computation capability of the computing unit. Since the allowable calculation time P (= P ₁ ) determined according to a predetermined number of samplings per vibration period and the frequency f is longer than the time L ₁ required for the calculation, the calculation process is within the sampling period. Therefore, appropriate vibration suppression control is performed. On the other hand, as shown in FIG. 5B, when the multi-order control mode is to be performed in the high frequency region, from the time L ₁ required for the calculation of the basic order drive command calculation unit 32 and the calculation of the high-order drive command calculation unit 33. However, the allowable calculation time P (= P ₂ ) is shorter, and the calculation process does not fall within the sampling period, and control is not established. As described above, the multi-order control mode needs to be executed at a frequency satisfying the relationship of time L ≦ allowable calculation time P required for calculation of the basic order drive command calculation unit 32 and calculation of the high-order drive command calculation unit 33. It cannot be implemented in the high frequency range. In this embodiment, since each process of vibration suppression control is executed using the current control period as a clock, the time L required for the calculation is expressed using the control timing period as a minimum unit. It is not limited to this.

  Accordingly, in order to perform appropriate vibration suppression control not only in the low frequency region but also in the high frequency region where the multi-order control mode cannot be executed, the high frequency control mode shown in FIG. 6 is provided in the present embodiment.

In the high frequency control mode, as shown in FIGS. 6 and 2, the calculation of the basic order drive command calculation unit 32 is executed in a state where the calculation of the high order drive command calculation unit 33 is stopped, and the basic order drive command calculation unit 32 is executed. This is a control for driving the vibration means 2 based on the basic order drive command I1 calculated in ( ₁ ). Specifically, the basic order component calculation by the basic order drive command calculation unit 32 is repeated every control timing t ₁ , t ₂ , t ₃ , t ₄ . Does not calculate the component. In this case, it is shorter than the time L ₁ when the time L ₂ required for the operation on the vibration control of a plurality orders control mode (see FIG. 5), is shorter than the allowable calculation time P _1. Of course, as a premise, the cycle of the control timing is set to be shorter than the allowable calculation time determined by the maximum frequency to be controlled.

  In this high frequency control mode, in the high frequency region as shown in FIG. 6 (b), the vibrations of the high-order components that are not to be controlled are in a suitable vibration suppression state due to the magnitude that does not cause a problem. In the low frequency region as shown in FIG. 6 (a), the vibration of the high-order component that is not the object of vibration suppression is so large that it cannot be ignored.

Therefore, in order to implement an appropriate control mode corresponding to the frequency region among the multi-order control mode or the high frequency control mode, the mode selection unit 36 shown in FIG. 2 is provided. The mode selection unit 36 shown in FIG. 2 acquires the vibration frequency f at the position pos to be damped, and switches from one of the multi-order control mode or the high frequency control mode to the other based on the acquired frequency f. . Specifically, the mode selection unit 36 acquires the frequency f detected by the frequency detection unit 31, and, as shown in FIGS. 7 and 2, the acquired current frequency f sets a first threshold th ₁ that is set in advance. It outputs a mode flag signals S ₁ when exceeded. If this mode flag signal S ₁ is output to stop the operation at higher driving command computation unit 33, provides high frequency control mode by executing calculation in the basic order drive command calculation unit 32 To do. On the other hand, as shown in FIGS. 7 and 2, the mode selection unit 36 selects the mode flag signal when the current frequency f falls below the second threshold th ₂ set lower than the first threshold th _1. to stop the output of the S _1. If this mode flag signal S ₁ is not outputted, realizing the multiple-order control mode by sequentially performing operations of the fundamental-order drive command calculation unit 32 and the high-order driver command computation unit 33.

The first threshold th ₁ is set in consideration of the time L required for the calculation of the basic order component and the higher order component determined by the processing capability of the calculator and the allowable calculation time P determined by the frequency f. Thus, by setting a threshold such as the first threshold th ₁ in association with the frequency, the calculation of the basic order drive command calculation unit 32 and the high-order drive command calculation within the allowable calculation time (P) determined by the frequency f. It can be said that the control mode is switched based on the switching information and the current frequency while holding the switching information in which the information indicating whether the calculation of the unit 33 is completed is associated for each frequency.

That is, as shown in FIG. 7, switches from a plurality orders control mode to the high frequency control mode when the current frequency f exceeds a first threshold th ₁ rises from the low frequency range side, the current frequency f is high switches from a high frequency control mode to the multiple orders control mode, an appropriate damping is performed even in the low frequency range and high frequency range which region when it falls below a second threshold th ₂ and drops from the frequency region side The

As described above, the vibration damping device according to the present embodiment is a vibration damping device that cancels the vibration Vi3 generated by the vibration generation source gn and the vibration Vi4 generated by the vibration excitation unit 2 at the position pos to be damped. The vibration detection unit 1 that detects vibration at the position pos to be damped, and the vibration that is out of phase with the fundamental order component of the detected vibration detected by the vibration detection unit 1 is added to the position pos to be damped. A basic order drive command calculation unit 32 that calculates a basic order drive command I ₁ to be generated through the vibration means 2 and vibrations that are out of phase with respect to higher-order components among the detected vibrations detected by the vibration detection unit 1. a higher driving command computation unit 33 for calculating a high-order drive command I _N for generating through vibrating means 2 to Hus should position pos, determined in accordance with the sampling number and the vibration frequency per oscillation one period a predetermined Acceptable Within the calculation time (P), the calculation of the basic order drive command calculation unit 32 and the calculation of the higher order drive command calculation unit 33 are sequentially executed to complete both calculations, and the drive commands of both calculation units 32 and 33 are issued. Multi-order control mode for driving the vibration means 2 based on the synthesized command (I ₁ + I _N ) and basic order drive in a state where the computation of the high-order drive command computation unit 33 is stopped within the allowable computation time (P) A high frequency control mode for executing the calculation of the command calculation unit 32 to complete the calculation and driving the vibration means 2 based on the drive command I ₁ calculated by the basic order calculation unit 32, and a position to be damped A mode selection unit 36 that acquires the frequency of vibration at pos and switches from one of the multiple-order control mode or the high-frequency control mode to the other based on the acquired frequency f is provided.

  The allowable calculation time is the sampling period when sampling the vibration waveform at the position to be damped at a predetermined number of samplings per vibration period, and the maximum calculation time that can be taken within the range that does not cause control failure. means.

  In this way, the vibration frequency f at the position pos to be damped is acquired, and either the multi-order control mode or the high-frequency control mode is switched from one to the other based on the acquired frequency f. When the frequency is such that the calculation of the basic order drive command calculation unit 32 and the calculation of the high-order drive command calculation unit 33 are completed within an allowable calculation time (P) determined according to the number of samplings per cycle and the current frequency f. It is possible to set the order control mode to the high frequency control mode when the frequency is not complete. The control can be performed, and the vibration control accuracy can be improved.

In the present embodiment, the mode selection unit 36 switches to the high frequency control mode when the acquired frequency f exceeds a predetermined first threshold th ₁ , and the acquired frequency f is greater than the first threshold th ₁ . Since the mode is switched to the multi-order control mode when the value falls below the second threshold th ₂ set to be lower, a dead zone is set between both the thresholds (first threshold th ₁ , second threshold th ₂ ). By providing hysteresis and changing the current frequency in the vicinity of the threshold value, chattering that frequently switches between the multi-order control mode and the high frequency control mode can be prevented and the control can be stabilized.

  In addition, in the present embodiment, since the vibration damping device is provided in a vehicle such as an automobile, a comfortable ride can be provided to the occupant.

  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 this embodiment, control mode switching has hysteresis, but the second threshold value is not provided, and the mode selection unit is switched to the multi-order control mode when the first threshold value is less than or equal to the first threshold value. It may be configured not to provide hysteresis.

  In this embodiment, the mode selection unit 36 acquires the vibration frequency f at the position pos to be damped through the frequency detection unit 31 and switches the control mode based on this frequency. An external command indicating a control mode to be acquired may be acquired from the outside such as a host controller, and the control mode may be switched based on the acquired external command.

  Furthermore, when there is a dead zone where no vibration occurs between the low frequency region and the high frequency region, information indicating which of the three regions is the current frequency is set in advance, and the current frequency is low. Switch to multi-order control mode when it is in the sensitivity region, switch to high-frequency control mode when the current frequency is in the high frequency region, and switch to the basic order drive command calculation unit and high order when the current frequency is in the dead zone region. You may comprise so that it may switch to the vibration suppression control mode which stopped the calculation of any calculation part of a drive command calculating part. With this configuration, since no vibration is generated in the dead zone, it is possible to prevent the control system from becoming unstable in order to cancel out such a weak vibration, and it is possible to improve the stability.

  Furthermore, the mode selection unit analyzes the vibration at the position to be damped by FFT analysis (fast Fourier transform analysis) or the like, and the multi-order control mode depending on whether or not the amplitude value of the higher order component exceeds a predetermined value. Is determined to be executed, and when it is determined that it should be executed in the multi-order control mode, it is switched to the multi-order control mode while it is determined that it should not be executed in the multi-order control mode. Alternatively, the high frequency control mode may be switched.

  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 detector 2 ... vibrator 32 ... position I 1 _... fundamental-order drive command basic order driver command computation unit 33 ... high-order driver command calculation unit 36 ... mode selector gn ... vibration source pos ... to be damped I _N ... Higher order drive commands P, P ₁ , P ₂ ... Allowable calculation time th ₁ ... First threshold th ₂ ... Second threshold

Claims (2)

A vibration damping device that cancels out vibrations generated at a vibration source and vibrations generated by the vibration excitation means at a position where vibrations should be suppressed,
A vibration detection unit for detecting vibration at a position to be controlled;
A basic order drive command calculating unit for calculating a basic order drive command for generating vibrations that are out of phase with respect to the basic order component among the detected vibrations detected by the vibration detecting unit through a vibration means at a position to be damped; ,
A high-order drive command calculation unit that calculates a high-order drive command for generating vibrations that are in phase opposite to the high-order component out of the detected vibrations detected by the vibration detection unit through a vibration means at a position to be damped; ,
The basic order drive command calculation unit and the high order drive command calculation unit are sequentially executed within the allowable calculation time determined according to the predetermined number of samplings per vibration period and vibration frequency, and both calculations are performed. And a multi-order control mode for driving the vibrating means based on a command obtained by combining the drive commands of both arithmetic units,
The calculation of the basic order drive command calculation unit is executed in a state where the calculation of the high-order drive command calculation unit is stopped within the allowable calculation time to complete the calculation, and the drive command calculated by the basic order calculation unit is A high frequency control mode for driving the excitation means based on
An external command indicating a vibration frequency at a position to be damped or a control mode to be executed is acquired, and based on the acquired frequency or the external command, either the multi-order control mode or the high-frequency control mode is switched from one to the other. And a mode selection unit for switching to the vibration control device.   The mode selection unit switches to the high frequency control mode when the acquired frequency exceeds a predetermined first threshold, and the acquired frequency is set to be lower than the first threshold. The vibration control device according to claim 1, wherein the vibration control device switches to the multi-order control mode when the threshold value is below a threshold value.

Images