JP2015175405A - Active type vibration control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an active type vibration control device capable of attaining further higher vibration control effect as compared with that of the prior art.SOLUTION: A control device 40 of an active type vibration control device includes a first control section 50 for controlling an actuator 20 on the basis of a first output signal. The first control section 50 comprises: a memory section 51 for storing a plurality of the first output signal to the actuator 20, which is preset in accordance with a vibration level at the initial period of vibration; a determination section 52 for determining the vibration level at the initial period of vibration on the basis of the detected values of sensors 31 to 35; and a first signal output section 53 for outputting the first output signal corresponding to the vibration level at the initial period of vibration determined by the determination section 52.

Description

  The present invention relates to an active vibration damping device that suppresses out-of-plane vibration of a face material such as a flooring material.

  This type of active vibration damping device is described in Patent Documents 1 and 2, for example. The device described in Patent Document 1 calculates a floor vibration vibration waveform based on a sensor signal for detecting floor vibration, and supplies an antiphase waveform vibration command to the vibration generator to cancel the vibration waveform. The device described in Patent Document 2 causes the actuator to generate a predetermined antiphase vibration having the same frequency and the opposite phase of the vibration generated in the main control object in accordance with the detection signal of the sensor.

  In Patent Document 3, a signal to be fed back is set as a modal response of the vibration to be controlled, and the same number of vibration sensors as the number of modes to be controlled for obtaining the modal response are installed in the control target. Decomposing the resulting signal into modal responses is described. Patent Document 4 has a similar description.

Japanese Patent Laid-Open No. 7-3933 JP 2009-114821 A Utility Model Registration No. 2531481 JP-A-3-282032

  An object of the present invention is to provide an active vibration damping device that can obtain a higher vibration damping effect than the conventional one.

  An active vibration damping device according to the present means is an active vibration damping device that suppresses out-of-plane vibration of a face material, and is disposed on the face material and detects at least one of the out-of-plane vibrations and the surface. An actuator disposed on a material and applying vibration to the face material; and a control device that controls the actuator based on a detection value of the sensor.

  The control device includes a first control unit that controls the actuator based on a first output signal. The first control unit stores a plurality of first output signals to the actuator set in advance according to a vibration level at an initial stage of vibration, and a vibration level at the initial stage of vibration based on a detection value of the sensor. And a first signal output unit that outputs the first output signal corresponding to the vibration level at the initial stage of the vibration determined by the determination unit to the actuator.

  The first control unit of the control device controls the actuator according to the vibration level at the initial stage of vibration when out-of-plane vibration occurs in the face material. Here, the first output signal is preset according to the vibration level at the initial stage of vibration. That is, the first control unit performs feedforward control according to the vibration level at the initial stage of vibration. A high-speed vibration control effect is obtained by the feedforward control performed by the first control unit. Further, a different first output signal is output to the actuator according to the vibration level at the initial stage of vibration. Therefore, a damping effect suitable for the vibration level at the initial stage of vibration can be obtained. As described above, by reliably exhibiting the damping effect near the maximum wave immediately after the start of vibration, a high damping effect of the face material can be obtained as a result. Here, the vibration level is any one of vibration acceleration, speed, and displacement.

<Embodiment>
A preferred embodiment of the active vibration damping device according to the above means will be described below. That is, the active vibration damping device according to the above means is not limited to the following preferred modes.

  When the out-of-plane vibration is applied to the face material, the vibration level of a predetermined frequency increases from the first wave to the maximum wave after the second wave, decreases after the maximum wave, and the initial vibration May be from the time of generation of the first wave of the predetermined frequency to before the peak of the maximum wave.

  That is, the first control unit detects a vibration level between the time when the first wave is generated and before the peak time of the maximum wave, and outputs a first output signal corresponding to the vibration level to the actuator. The peak value of the maximum wave can be reduced by the feedforward control using the vibration level before the peak of the maximum wave by the first control unit.

  The first signal output unit may output the first output signal to the actuator before the peak time of the maximum wave. That is, the excitation of the actuator is started before the peak of the maximum wave. Therefore, the peak value of the maximum wave is reliably reduced.

  The first signal output unit may start outputting the first output signal to the actuator from the maximum wave, and stop outputting the first output signal after a predetermined time. The vibration suppression effect by the first control unit, which is feedforward control, acts effectively before the vibration mode is stabilized. Therefore, even if the first signal output unit stops outputting the first output signal after a predetermined time, a sufficient vibration damping effect is exhibited. Further, there is no adverse effect due to the feedforward control over a long period.

  In addition, each of the first output signals stored in the storage unit is each at a predetermined position estimated based on a detection value of each of the sensors when vibrations having different magnitudes are applied to the face material. You may make it respond | correspond to the vibration which reduces a vibration. That is, each first output signal is obtained based on the detection value of each sensor generated when vibrations of different magnitudes are previously applied to the face material. Further, each vibration at a predetermined position is estimated based on each detected value, and a first output signal is obtained so as to correspond to the vibration that reduces the estimated vibration. By using the first output signal thus obtained, the vibration of the face material can be surely reduced.

  The active vibration damping device includes a plurality of sensors, the storage unit stores a plurality of first output signals for each of the sensors, and the determination unit is based on detection values of the plurality of sensors. Determining the sensor that first exceeds a predetermined threshold and determining the initial vibration level of the sensor, wherein the first signal output unit includes the sensor determined by the determination unit and the sensor The first output signal corresponding to the vibration level at the initial stage of the vibration may be output to the actuator.

  That is, when a plurality of sensors are provided, it is defined which sensor's detection value is used to determine the first output signal. Here, the first signal output unit determines the first output signal using a sensor whose detected value first exceeds a predetermined threshold. This effectively reduces the vibration of the face material.

  The active vibration damping device includes a plurality of sensors, the storage unit stores the plurality of first output signals for each of the sensors, and the determination unit is based on detection values of the plurality of sensors. And determining the sensor having the maximum vibration level at the initial stage of vibration and determining the initial vibration level of the sensor, wherein the first signal output unit is determined by the determination unit. The first output signal corresponding to the vibration level of the sensor at the initial vibration may be output to the actuator.

  That is, when a plurality of sensors are provided, it is defined which sensor's detection value is used to determine the first output signal. Here, a 1st signal output part determines a 1st output signal using the sensor from which the vibration level at the initial stage of vibration becomes the maximum. Thereby, the vibration of the face material can be preferably reduced.

  The first signal output unit outputs the next first output signal to the actuator from when the first output signal is output to the actuator until the detection value of the sensor falls below a predetermined threshold value. You may make it not. Thereby, the vibration reduction target by the first control unit is the vibration near the maximum wave immediately after the start of vibration. Therefore, it is possible to reliably reduce vibration in the vicinity of the maximum wave immediately after the start of vibration.

  Further, the control device includes a second control unit that controls the actuator based on a second output signal in parallel with the first control unit, and the second control unit is based on a detection value of the sensor. A mode signal generation unit that generates the second output signal corresponding to a predetermined mode, and a second signal output unit that outputs the generated second output signal to the actuator may be provided.

  That is, the control device includes a first control unit that suppresses vibration in the vicinity of the maximum wave immediately after the start of vibration, and a second control unit that exhibits a vibration reduction effect corresponding to a predetermined mode. Here, the vibration suppression effect by the second output signal corresponding to the predetermined mode is effective after the vibration mode of the face material is stabilized. The vibration mode of the face material is not stabilized immediately after the vibration is generated, but is stabilized when the vibration level is increased. That is, the vibration suppression effect by the second output signal corresponding to the predetermined mode is exhibited after the maximum wave. On the other hand, the vibration suppression effect by the first control unit enables reduction of the peak value of the maximum wave immediately after the start of vibration. Thus, when the control device includes the first control unit and the second control unit, it is possible to suppress the vibration of the maximum wave immediately after the start of vibration and to effectively suppress the subsequent vibration.

  The active vibration damping device includes a plurality of sensors, and the control device includes a second control unit that controls the actuator based on a second output signal in parallel with the first control unit, The second control unit includes a mode decomposition unit that obtains vibration for each mode by performing modal filtering based on detection values of the plurality of sensors, and a signal for each mode that generates an output signal for each mode based on the vibration for each mode. You may make it provide the production | generation part and the 2nd signal output part which outputs said 2nd output signal which is a synthetic | combination output signal to the said actuator based on the said output signal for every mode.

  That is, the control device includes a first control unit that suppresses vibration in the vicinity of the maximum wave immediately after the start of vibration, and a second control unit that performs modal filtering. Here, the vibration suppression effect by performing modal filtering is effective after the vibration mode of the face material is stabilized. The vibration mode of the face material is not stabilized immediately after the vibration is generated, but is stabilized when the vibration level is increased. That is, the vibration suppression effect by modal filtering is exhibited after the maximum wave. On the other hand, the vibration suppression effect by the first control unit enables reduction of the peak value of the maximum wave immediately after the start of vibration. Thus, when the control device includes the first control unit and the second control unit, it is possible to suppress the vibration of the maximum wave immediately after the start of vibration and to effectively suppress the subsequent vibration.

  Further, the plurality of sensors are determined based on phase differences of a plurality of complex eigenmode vector components at each sensor candidate position and orthogonality evaluation values of a plurality of complex eigenmode vectors at each sensor candidate position. It may be arranged at a different position.

  The arrangement position of the plurality of sensors is a position where the phase difference between the plurality of complex eigenmode vector components becomes small from any position (sensor candidate position) on the face material. Therefore, since the phase difference of the intrinsic modal response between the plurality of arranged sensors becomes small, the second control unit can handle the detection values of the plurality of sensors equivalent to the actual mode. Therefore, the second control unit can perform modal filtering on the detection values of the plurality of sensors.

  Furthermore, the orthogonality evaluation value is considered in the arrangement positions of the plurality of sensors. When the detection values of the sensors are orthogonal to each other, the second control unit can perform modal filtering, but conversely, when close to the first order subordinate, the second control unit is modal. Cannot filter. Therefore, in consideration of the orthogonality evaluation value, by arranging a plurality of sensors so that the detection values of the respective sensors are orthogonal to each other, the second control unit can detect the detection values of the plurality of sensors. Modal filtering can be performed. Therefore, in the face material having the complex eigenmode, the out-of-plane vibration of the face material is reliably suppressed by the second control unit controlling the actuator based on the detection values of a small number of sensors.

The figure explaining the outline | summary of the active-type damping device of this embodiment is shown. The behavior of the detection value of the sensor is shown. The frequency characteristic of the detection value of a sensor is shown. The absolute value of the detection value of the sensor of FIG. 2 is shown. The functional block diagram of the control apparatus of 1st embodiment is shown. The information memorize | stored in the memory | storage part of a 1st control part is shown. The 1st output signal 1a memorize | stored in a memory | storage part is shown. The 1st output signal 1b memorize | stored in a memory | storage part is shown. The detection value of the sensor at the time of controlling an actuator by the 1st control part and the 2nd control part is shown. The detection value of the sensor when the actuator is controlled only by the first control unit is shown. The detection value of a sensor at the time of controlling an actuator only by the 2nd control part is shown. The detection value of the sensor when not controlling by a control apparatus is shown. It is a flowchart which shows a sensor arrangement | positioning determination process. It is a figure which shows the example of the sensor position in S1 of FIG. 10 is a complex plan view showing components (amplitude B, phase θ) of a complex eigenmode vector X in S1 of FIG. It is the figure plotted on the complex plane for every mode order in S2 of FIG. FIG. 10 is a diagram obtained by rotating each position in S4 of FIG. 9 by −Φ on the complex plane of the first-order mode. It is a figure which shows the range (hatch) between the two threshold lines of the primary mode in S5 of FIG. 9 on the complex plane of the primary mode. The positions extracted by the process of S5 are indicated by black circles. It is a figure which shows the range (hatch) between the two threshold lines of the secondary mode in S5 of FIG. 9 on the complex plane of the secondary mode. The positions extracted by the process of S5 are indicated by black circles. It is the figure which extracted the position common to all the mode orders in S6 of FIG. 9 on the complex plane of a primary mode. The positions extracted by the process of S6 are indicated by black circles. It is the figure which extracted the position common to all the orders in S7 of FIG. 9 on the complex plane of a primary mode. The positions extracted by the process of S7 are indicated by black circles. It is a flowchart which shows an actuator arrangement | positioning determination process. It is a figure which shows the position of the actuator in S11 of FIG. 18 on the complex plane of a primary mode. It is a figure which shows the position of the several sensor and actuator determined by the process of FIG.9 and FIG.18. It is a figure which shows the other example of the range extracted by the threshold value straight line in S5 of FIG. The positions extracted by the processing are indicated by black circles. The functional block diagram of the control apparatus of 2nd embodiment is shown.

<First embodiment>
(1. Overview of active vibration control device)
As shown in FIG. 1, the active vibration damping device is a device for suppressing out-of-plane vibration of a face material 10 such as a flooring of a building, for example. The face material 10 is, for example, a floor material such as lightweight cellular concrete (ALC). The apparatus includes an actuator 20 disposed on the face material 10, a plurality of sensors 31 to 35 disposed on the face material 10 to detect vibration levels of out-of-plane vibrations, and detection detected by the plurality of sensors 31 to 35. And a control device 40 that controls the actuator 20 based on the value. Here, the vibration level is any one of acceleration, speed, and displacement.

  The actuator 20 is a vibrator that applies vibration to the face material 10. The sensors 31 to 35 are an acceleration sensor, a speed sensor, a displacement sensor, and the like. Of course, the sensors 31 to 35 can directly detect acceleration and convert it into velocity or displacement. In addition to feedback control by modal filtering, the control device 40 performs feedforward control on vibration near the maximum wave immediately after the start of vibration.

(2. Detection values of sensors 31 to 35)
When out-of-plane vibration is applied to the face material 10, the detection values of the sensors 31 to 35 behave as shown in FIG. In FIG. 2, time 0 is the occurrence time of vibration. However, the detected values of the sensors 31 to 35 are different from each other. For example, FIG. 2 shows the detection value of the sensor 31.

  The frequency characteristics of the detection value of the sensor 31 shown in FIG. 2 are shown in FIG. Here, the dominant frequency is a frequency (for example, around 37 Hz) surrounded by a two-point difference line. However, if the type, size, support method, and the like of the face material 10 are different, the dominant frequency may be a frequency band different from the above. In general, in a building floor material, the dominant frequency of heavy floor impact sound is the octave band center frequency 63 Hz band.

  As shown in FIG. 2, when out-of-plane vibration is applied to the face material 10, the vibration level of the dominant frequency among the detection values of the sensor 31 gradually increases from the first wave, and after the second wave. Becomes the maximum wave. Although FIG. 2 shows an example in which the second wave is the maximum wave, the third wave and thereafter may be the maximum wave. The vibration level of the dominant frequency of the face material 10 decreases after the maximum wave.

  Here, the first wave, the second wave, and the maximum wave are vibrations including the first peak when it is assumed that only a component of a predetermined frequency (here, the dominant frequency) is extracted from the detection value of the sensor 31. Wave, vibration wave including the second peak, and vibration wave including the maximum peak value. Further, the vibration mode of the face material 10 is not stable in the detection value of the sensor 31 from the first wave to the maximum wave, and the vibration mode of the face material 10 is stable near the maximum wave. It will be in the state. That is, as will be described later, the vibration suppression effect by modal filtering is exhibited after the vibration mode is stabilized, that is, after the maximum wave.

  The absolute value of the detection value of the sensor 31 is as shown in FIG. The absolute value corresponds to one amplitude of vibration of the face material 10 and represents the magnitude of vibration. The absolute value of the detection value of the sensor 31 exceeds the threshold Th at time t1, and continues to exceed the threshold th from time t1 to time t2. The threshold th corresponds to the minimum value of the vibration level that occurs when out-of-plane vibration occurs in the face material 10.

  Further, in order for the sensors 31 to 35 to reliably detect the first wave and the maximum wave of the vibration of the dominant frequency as described above, the sampling frequency of the sensors 31 to 35 is set to the dominant frequency in the vibration characteristics of the face material 10. 2 times or more. The sampling frequency is preferably at least 5 times the dominant frequency, more preferably at least 10 times the dominant frequency.

(3. Description of the control device 40)
As illustrated in FIG. 5, the control device 40 includes a first control unit 50 and a second control unit 60. The first control unit 50 performs feedforward control (hereinafter also referred to as first control) in order to suppress vibration near the maximum wave immediately after the start of vibration. The first control unit 50 controls the actuator 20 based on the first output signal as the feedforward control signal. The second control unit 60 performs feedback control (hereinafter also referred to as second control) by performing modal filtering. The second control unit 60 controls the actuator 20 based on the second output signal as a feedback control signal.

  The control device 40 outputs both the first output signal from the first control unit 50 and the second output signal from the second control unit 60 to the actuator 20. That is, the first control and the second control by the control device 40 can be executed in parallel. However, the first control is mainly performed to suppress the peak value of the maximum wave immediately after the start of vibration, and is therefore executed near the maximum wave. On the other hand, the second control is mainly performed after the maximum wave because the purpose is to quickly attenuate the vibration after the maximum wave.

  The first control unit 50 includes a storage unit 51, a determination unit 52, and a first signal output unit 53. As shown in FIG. 6, the storage unit 51 stores a plurality of first output signals for performing feedforward control. That is, the memory | storage part 51 memorize | stores the some 1st output signal to the actuator 20 preset according to the vibration level of the vibration initial stage.

  In detail, the memory | storage part 51 memorize | stores several 1st output signals 1a-1c, ..., 5a-5c for every sensor 31-35. For example, the first output signals 1a to 1c correspond to the sensor 31 and differ according to the magnitude of the detection value of the sensor 31 in the initial stage of vibration. For example, the first output signal 1a is shown in FIG. 7A, and the first output signal 1b is shown in FIG. 7B. The first output signals 5a to 5c correspond to the sensor 35, and differ according to the magnitude of the detection value of the sensor 35 at the initial stage of vibration.

  Here, the initial period of vibration is from when the first wave of the dominant frequency is generated to before the peak of the maximum wave when out-of-plane vibration is applied to the face material 10. In particular, it is preferable that the initial period of vibration is between the time when the first wave of the dominant frequency is generated and the peak time of the first wave. Therefore, as described above, the sampling frequency of the sensors 31 to 35 is at least twice the dominant frequency, preferably at least five times, more preferably at least ten times.

  As shown in FIG. 7A, the first output signal 1a is, for example, a vibration waveform corresponding to one cycle. Of course, the first output signal 1a may be a vibration waveform having two or more cycles, or may be a vibration waveform having a half cycle. The first output signals 1a and 1b are signals having different amplitude maximum values as shown in FIGS. 7A and 7B. The first output signal 1a shown in FIG. 7A corresponds to the case where a magnitude vibration is applied to the face material 10, and the first output signal 1b shown in FIG. 7B is a case where a small vibration is applied to the face material 10. Correspond.

  7A and 7B, times 0 and t1 correspond to times 0 and t1 in FIG. The first output signals 1a and 1b are the maximum wave (second wave in FIG. 4) and the next wave after the maximum wave (third wave in FIG. 4) when vibration is applied to the face material 10. This signal corresponds to the time. That is, the first output signals 1a and 1b are signals for starting excitation by the actuator 20 before the peak time of the maximum wave.

  Furthermore, the sensors 31 to 35 are arranged at different positions in the face material 10 as shown in FIG. Further, the sensors 31 to 35 have different distances from the actuator 20. Therefore, the memory | storage part 51 memorize | stores the 1st output signal corresponding to the sensors 31-35.

  The plurality of first output signals 1a stored in the storage unit 51 are determined as follows. First, based on the detection value of the sensor 31 when a certain amount of out-of-plane vibration is applied to the face material 10, vibration at a predetermined position, specifically, vibration at the position of the actuator 20 is estimated. The first output signal 1a is a signal corresponding to a vibration that reduces the estimated value, specifically, a vibration having an opposite phase to the estimated value. The first output signal 1b is a vibration that decreases the estimated value estimated based on the detection value of the sensor 31 when an out-of-plane signal having a different magnitude is applied to the face material 10, specifically, the opposite phase of the estimated value. It is a signal corresponding to the vibration of. Other 1st output signals are similarly determined using the detected value of the corresponding sensors 32-35.

  The determination unit 52 illustrated in FIG. 5 acquires detection values of the plurality of sensors 31 to 35 and determines one sensor for determining a first output signal to be output to the actuator 20. There are the following two methods for determining one sensor. In the first determination method, a sensor that first exceeds the threshold th (shown in FIG. 4) is determined based on the detection values of the plurality of sensors 31 to 35. The second determination method is based on the detection values of the plurality of sensors 31 to 35 to determine a sensor that has a vibration level at the initial stage of vibration, in this case, a sensor that has the maximum vibration level in the first wave of the dominant frequency. .

  After determining one sensor, the determination unit 52 determines an initial vibration level based on a detection value of the sensor. Specifically, the determination unit 52 determines the peak value of the first wave of the dominant frequency detected by the sensor. In addition, when the first wave is small, the determination unit 52 sets the detection values after the second wave as the vibration level at the initial stage of vibration.

  The determination unit 52 determines whether or not the determined detection value of one sensor is lower than the threshold Th after the threshold Th is exceeded. The time when the detected value falls below the threshold Th corresponds to t2 in FIG.

  The first signal output unit 53 shown in FIG. 5 is one sensor determined by the determination unit 52 from among the plurality of first output signals 1a to 1c,..., 5a to 5c stored in the storage unit 51. And the 1st output signal according to the vibration level of the vibration initial stage of the one said sensor is determined. Then, the first signal output unit 53 outputs the determined first output signal to the actuator 20. If it does so, the actuator 20 will generate | occur | produce the vibration according to the output 1st output signal.

  Here, as shown in FIGS. 7A and 7B, the first output signals 1a and 1b correspond to the time of the maximum wave of the face material 10 and the next wave of the maximum wave (the third wave in FIG. 4). That is, the first signal output unit 53 outputs the first output signal to the actuator 20 before the peak of the maximum wave, and starts the excitation of the actuator 20 before the peak of the maximum wave. Further, the first signal output unit 53 outputs the first output signal from the maximum wave to the actuator 20 and stops outputting the first output signal after a predetermined time. After a predetermined time, a predetermined number of waves from the maximum wave (in this embodiment, the first wave from the maximum wave) is used.

  Furthermore, the first signal output unit 53 does not output the next first output signal to the actuator 20 from when the first output signal is output to the actuator 20 until the detection value of the sensor falls below the threshold Th. The determination unit 52 determines whether or not the detection value of the sensor falls below the threshold Th.

  As shown in FIG. 5, the second control unit 60 includes a mode decomposition unit 61, a mode-specific signal generation unit 62, and a second signal output unit 63. The mode decomposition unit 61 acquires vibration for each mode by performing modal filtering based on the detection values of the plurality of sensors 31 to 35. As will be described later, the plurality of sensors 31 to 35 are arranged at the positions of the face material 10 determined based on the phase differences of the plurality of complex eigenmode vector components and the orthogonality evaluation values of the plurality of complex eigenmode vectors. The That is, the plurality of sensors 31 to 35 have a small phase difference and almost orthogonality. Therefore, the mode decomposing unit 61 can reliably perform mode filtering. Then, the mode decomposing unit 61 calculates the speed component of each mode order (here, first to fifth order) corresponding to the vibration for each mode.

  The signal generator for each mode 62 generates an output signal for each mode by performing amplitude adjustment and phase adjustment based on the speed component of each mode order. The signal for each mode corresponds to the vibration in the opposite phase of the vibration of each mode order at the position of the actuator 20. That is, the output signal for each mode is determined in consideration of the transfer function from the position of the plurality of sensors 31 to 35 to the position of the actuator 20.

  The second signal output unit 63 generates a combined output signal by combining the output signals for each mode order. Further, the second signal output unit 63 outputs a second output signal that is a combined output signal to the actuator 20.

(4. Experimental results)
In order to confirm the effect when the control device 40 described above is applied, the actuator is controlled only by the first control unit 50 in addition to the case where the actuator 20 is controlled by the first control unit 50 and the second control unit 60 of the control device 40. 20, the detection value (acceleration) of the sensor 31 that detects acceleration was measured for each of the case where the actuator 20 was controlled only by the second control unit 60 and the case where the control by the control device 40 was not performed.

  FIG. 8A shows the detection value of the sensor 31 when the actuator 20 is controlled by the first controller 50 and the second controller 60, and FIG. 8B shows the sensor when the actuator 20 is controlled only by the first controller 50. 8C shows the detected value of the sensor 31 when the actuator 20 is controlled only by the second control unit 60, and FIG. 8D shows the detected value of the sensor 31 when the control by the control device 40 is not performed. Indicates the detection value.

  According to FIGS. 8A to 8C and FIG. 8D, when the first control unit 50 or the second control unit 60 is applied, the vibration of the face material 10 is attenuated at an early stage as compared with the case where the control is not performed. . Further, according to FIGS. 8A to 8B and 8C, the maximum wave is smaller in FIGS. 8A and 8B to which the first control unit 50 is applied than in FIG. 8C to which the first control unit 50 is not applied. Yes.

  Further, according to FIGS. 8A and 8B, when the first control unit 50 and the second control unit 60 are applied, the vibration is attenuated faster than when only the first control unit 50 is applied. doing. Furthermore, according to FIG. 8A and FIG. 8C, when applying the 1st control part 50 and the 2nd control part 60, a maximum wave becomes small compared with the case where only the 2nd control part 60 is applied. As a result, the vibration is attenuated earlier.

  Each maximum sound pressure is as shown in Table 1. As shown in Table 1, it can be seen that the best results can be obtained when the first control unit 50 and the second control unit 60 are applied as compared to other cases. The maximum sound pressure is 31.5 Hz band (1/1 octave) from the waveform measured with a precision sound level meter (NL31 manufactured by Lion Co., Ltd.) in which the sound pressure radiated from the face material is arranged at the lower part of the center of the face material. The maximum sound pressure (dB) of the band) is calculated.

(5. Effect)
As described above, the first control unit 50 performs feedforward control according to the vibration level at the initial stage of vibration, so that a high-speed vibration damping effect can be obtained. Further, a different first output signal is output to the actuator 20 according to the vibration level at the initial stage of vibration. Therefore, a damping effect suitable for the vibration level at the initial stage of vibration can be obtained. As described above, by reliably exhibiting the damping effect near the maximum wave immediately after the start of vibration, a high damping effect of the face material 10 can be obtained as a result.

  Furthermore, the control device 40 includes a second control unit 60 that performs modal filtering in addition to the first control unit 50. As can be seen from the above, the vibration suppression effect by performing modal filtering is effective after the vibration mode of the face material 10 is stabilized. The vibration mode of the face material 10 is not stabilized immediately after the vibration is generated, but is stabilized when the vibration level is increased. That is, the vibration suppression effect by modal filtering is exhibited after the maximum wave. On the other hand, the vibration suppression effect by the first control unit 50 enables reduction of the peak value of the maximum wave immediately after the start of vibration. As described above, when the control device 40 includes the first control unit 50 and the second control unit 60, it is possible to suppress the vibration of the maximum wave immediately after the start of vibration and to effectively suppress the subsequent vibration.

  Further, the first control unit 50 detects a vibration level from when the first wave of the dominant frequency is generated to before the peak of the maximum wave, and outputs a first output signal corresponding to the vibration level to the actuator 20. Output. When the first control unit 50 performs the feedforward control using the vibration level before the peak time of the maximum wave, the peak value of the maximum wave of the dominant frequency can be reduced.

  The first signal output unit 53 outputs the first output signal to the actuator 20 before the peak time of the maximum wave. That is, the excitation of the actuator 20 is started before the peak of the maximum wave. Therefore, the peak value of the maximum wave is reliably reduced. More specifically, the first signal output unit 53 starts to output the first output signal to the actuator 20 from the maximum wave, and stops outputting the first output signal at a predetermined number of waves from the maximum wave. The vibration suppression effect by the first control unit 50 that is feedforward control works effectively before the vibration mode is stabilized. Therefore, even if the first signal output unit 53 stops the output of the first output signal at the predetermined number of waves from the maximum wave, a sufficient damping effect is exhibited. Further, there is no adverse effect due to the feedforward control over a long period.

  Moreover, each 1st output signal 1a-1c, ..., 5a-5c memorize | stored in the memory | storage part 51 is each detection of the sensors 31-35 at the time of giving the vibration of a magnitude | size different to the face material 10. This corresponds to the vibration of the opposite phase of each vibration at the position of the actuator 20 estimated based on the value. That is, each 1st output signal 1a, ... is obtained based on each detection value of the sensors 31-35 which arise when the vibration of a magnitude | size different to the face material 10 is previously provided. Further, each vibration at the position of the actuator 20 is estimated based on each detected value, and the first output signal 1a,... Is obtained so as to correspond to the vibration having the opposite phase of the estimated vibration. By using the first output signals 1a,... Thus obtained, the vibration of the face material 10 can be reliably reduced.

  Further, the first signal output unit 53 determines the first output signal using a sensor whose detection value first exceeds a predetermined threshold value, or uses a sensor with the maximum vibration level at the initial stage of vibration to The output signal is determined. As a result, it is possible to effectively reduce the vibration of the face material.

  In addition, the sampling frequency of the detection values of the sensors 31 to 35 is set to be twice or more, preferably 5 times or more, more preferably 10 times or more the dominant frequency in the vibration characteristics of the face material 10. Thereby, the maximum wave of the dominant frequency can be surely reduced.

  The first signal output unit 53 outputs the next first output signal to the actuator 20 from when the first output signal is output to the actuator 20 until the detection value of the sensors 31 to 35 falls below the threshold Th. do not do. Thereby, the vibration reduction target by the first control unit 50 is vibration near the maximum wave immediately after the start of vibration. Therefore, it is possible to reliably reduce vibration in the vicinity of the maximum wave immediately after the start of vibration.

(6. Placement determination process of sensors 31 to 35)
Next, processing for determining the arrangement of the plurality of sensors 31 to 35 will be described with reference to FIGS. 9 to 17 and 20. By this processing, the plurality of sensors 31 to 35 have the phase difference of the components of the complex eigenmode vector at the positions of the respective sensors 31 to 35 and the plurality of mode orders at the positions of the respective sensors 31 to 35. Are arranged at positions determined based on the orthogonality evaluation value MAC for all combinations of two selected from the complex eigenmode vectors. That is, the arrangement positions of the plurality of sensors 31 to 35 are determined in consideration of the phase differences and orthogonality evaluation values MAC for the plurality of mode orders. Details will be described below.

  The component (amplitude B, phase θ) of the complex eigenmode vector X of each mode order at each sensor candidate position P is calculated (S1 in FIG. 9). Here, as shown in FIG. 10, a large number of candidate positions (here, 55 locations) on the face material 10 are set as Pj (j = 1 to n) (n = 55). These sensor candidate positions P1 to P55 are positions where the sensors 31 to 35 can be arranged. In FIG. 10, the sensor candidate positions P1 to P55 are the nodes when the face material 10 is divided into quadrilateral elements, but may be triangular elements or divided into other shape elements. Also good.

The general solution of the displacement u _j (t) at the candidate position Pj on the face material 10 of the sensors 31 to 35 is expressed by the equation (1). That is, the displacement u _j (t) at each sensor candidate position Pj is the sum of the displacements of each mode order m, as shown in Equation (1), and the displacement of each mode order m is unique to the corresponding mode order m. _Represented by the mode vector Xm.

In general, the attenuation of the face material 10 is often not proportional to attenuation such as Rayleigh attenuation but often becomes non-proportional attenuation. At this time, the m-th eigenmode vector X _{mj at} the sensor candidate position Pj (j = 1, 2,..., 55) is a complex eigenmode vector in which each component is a complex number having a different declination. . Therefore, the component of the m-th order eigenmode vector X _mj at each sensor candidate position Pj is expressed as in Expression (2). The phase θ _mj differs depending on the sensor candidate position Pj.

The amplitude B _mj and phase θ _mj in this equation (2) will be described using the complex plane shown in FIG. As shown in FIG. 11, in the complex plane, the amplitude B _mj components of the complex eigenmodes vector X _mj is expressed as the distance from the origin, the phase theta _mj is counterclockwise from the positive axis of real number Re Expressed as an angle. That is, when the component of the complex eigenmode vector X _mj is decomposed into a real number and an imaginary number, Expression (3) is obtained.

That is, in S1 of FIG. 9, the vibration behavior at each candidate position Pj is mode-decomposed for each mode order m, so that the amplitude B _mj and the phase θ _mj of the component of the complex eigenmode vector X _mj at each candidate position Pj are obtained. Can be calculated. Here, when calculating each component B _mj , θ _mj , the vibration behavior of each candidate position Pj can be obtained by analysis or can be obtained as an identification value by experiment.

Subsequently, as shown in FIG. 12, the position of the component of the complex eigenmode vector X _mj of each candidate position Pj is plotted on the complex plane for each mode order m of the vibration mode (S2 in FIG. 9). Here, since the first to fifth vibration modes are processed, five complex planes are formed. Then, 55 points are plotted on each complex plane. However, in the figure, the number of points is different for ease of explanation.

Subsequently, an average value Φ _m of the phases θ _mj of all candidate positions Pj (j = 1 to 55) is calculated for each mode order m. The phase average value Φ _m is calculated by the equation (4) (S3 in FIG. 9). That is, the phase average value Φ _m is similar to the slope when an average straight line that approximates the point group passing through the origin is obtained by the least square method. This phase average value Φ _m is shown in FIG. In FIG. 12, the approximate straight line of points P1 to P55 is shown by a solid line.

Subsequently, as shown in FIG. 13, for each mode order m, on the complex plane, rotation coordinate transformation of an angle −Φ _m centered on the origin is performed for each candidate position Pj (S4 in FIG. 9). As a result, the approximate straight line of the point Pj (j = 1 to 55) on the complex plane coincides with the real axis. This process is performed to facilitate the subsequent process.

Subsequently, a position P where the phase difference is within the set range Y is extracted from the candidate positions Pj on the complex plane (S5 in FIG. 9). Specifically, a plurality of candidate positions P within a range Y between preset threshold straight lines Th _ma and Th _mb are extracted from the positions Pj. This means that although the components of the complex eigenmode vector X _mj have a phase difference with each other as described above, a plurality of candidate positions P from which the phase difference can be ignored are extracted.

By doing so, the plurality of extracted candidate positions P appear to be in a real mode, and a modal filtering process can be applied. Here, the threshold straight lines Th _ma and Th _mb are straight lines that pass through the origin and have different slopes (± ψ _m ) with respect to the real number axis, as shown in FIG. That is, the range Y is a range including at least a part of the real axis. Specifically, the threshold straight lines Th _ma and Th _mb are expressed by Expression (5).

A candidate position P included in the phase difference setting range Y (hatching in FIG. 14) is a candidate position P having a phase θ _mj that satisfies Expression (6). That is, the candidate position P that is the phase θ _mj that satisfies Expression (6) is a position that has a small phase difference and is far from the origin. In other words, by extracting candidate positions P included in the setting range Y, sensor candidate positions P near the origin are excluded in addition to sensor candidate positions P having a large phase difference between them. .

  Thus, by extracting the candidate position P with a small phase difference, it can be treated as an actual mode apparently. In addition, the vicinity of the origin on the complex plane is near the node of the vibration mode shape, and the amplitude of the mode vibration becomes small, so that it is easily affected by various noises, so that the vibration suppression effect may not be obtained. . However, since the sensor candidate position P in the vicinity of the origin is eliminated by the above processing, the amplitude of the vibration modal response is increased, and thus it is hardly affected by noise.

Although FIG. 14 shows the primary mode (m = 1), the same processing is performed for other order modes. For example, the secondary mode (m = 2) is as shown in FIG. Here, the candidate position P included in the phase difference setting range Y in the primary mode is different from the candidate position P included in the phase difference setting range Y in the secondary mode. As described above, the position P included in the phase difference setting range Y is different in each mode order m. Note that the slopes (± ψ _m ) of the straight line thresholds Th _ma and Th _mb may be different values for each mode order m, or may be the same value.

  Subsequently, a common candidate position P is extracted in all mode orders (m = 1 to 5) (S6 in FIG. 9). The extracted candidate position P becomes a candidate position P indicated by a black circle in FIG. The candidate positions P extracted at this point have a relationship that the phase differences are small and far from the origin in all the first to fifth orders.

Subsequently, five candidate positions P are extracted from the candidate positions P extracted in S6 using the orthogonality evaluation value (S7 in FIG. 9). Here, in order to apply the modal filtering process, mode vectors X _p1 , X _p2 ,..., X _p5 created from components corresponding to the five extracted candidate positions P are considered. It is desirable that one is not close to the primary dependency with the other four, and is as close to orthogonal as possible.

Therefore, a mode reliability evaluation criterion MAC (Modal Assurance Criterion) is used as the orthogonality evaluation value for this determination. The orthogonality evaluation value MAC is an index indicating the correlation between the mode vectors Xa and Xb, and is defined by Expression (7). In the formula (7), X _pa, the definition of X _pb, X _pa, the definition of the inner product of _{X pb (X pa · X pb} ), and, ‖X _pa ‖ ^2, the definition of ‖X _pb ‖ ^2, the formula ( It is as shown in 8).

The closer the value of MAC (X _pa , X _pb ) is to 1, the closer the two mode vectors X _pa , X _pb are, and the closer to 0, the closer to orthogonal. That is, finding a set of mode vectors X _p1 ,..., X _p5 that are nearly orthogonal to each other means that for all combinations where a ≠ b of the a-order mode and b-order mode, MAC (X _pa , This corresponds to extracting a candidate position P of the sensor whose value of X _pb ) is close to zero.

  Therefore, a combination of five positions P is created from the candidate positions P extracted in S6 of FIG. Then, for each of the five candidate positions P of the combination, the value of the evaluation function J shown in the equation (9) is calculated, and the candidate position P of the combination having the minimum evaluation function J is extracted.

  The candidate positions P thus extracted are the five candidate positions P12, P27, P29, P41, and P45 shown in FIG. Then, as shown in FIG. 20, the arrangement positions of the sensors 31 to 35 are determined as the extracted candidate positions P12, P27, P29, P41, and P45 (S8 in FIG. 9). These positions P12, P27, P29, P41, and P45 have a relationship that the phase difference is small and far from the origin in all of the first to fifth orders, and the eigenmode vectors are close to orthogonal to each other. Therefore, modal filtering processing can be performed using the detection values detected by the sensors 31 to 35 arranged at these positions P12, P27, P29, P41, and P45, and it is difficult to be affected by noise. Vibration can be detected.

(7. Arrangement Determination Processing of Actuator 20)
Next, processing for determining the arrangement of the actuator 20 will be described with reference to FIGS. By this processing, the actuator 20 causes the phase θ _mj of the component of the m-th order complex eigenmode vector X _mj at the five extracted sensor candidate positions Pj and m at the candidate position P _ACT of the actuator 20 on the face material 10. The components of the second complex eigenmode vector X _{m (ACT)} are arranged at positions determined based on the phase difference from the phase θ _{m (ACT)} . Details will be described below.

As the position of the actuator 20, a position P _Act that is close to the phase average value Φ _m at each mode order m at each position of the sensors 31 to 35 and that is far from the origin on the complex plane is acquired (S11 in FIG. 18). This position P _Act uses the component (B _mj , θ _mj ) of the complex eigenmode vector X _mj of each candidate position Pj (j = 1 to 55) of the face material 10 calculated in the sensor arrangement determination process described above.

In FIG. 19, the components of the complex eigenmode vector X _mj at each position Pj of the face material 10 are plotted on the complex plane. The position of the actuator 20 is best at the position PA1. The reason for this will be described.

  When a phase difference occurs in the eigenmode vector component between the positions P12, P27, P29, P41, and P45 of the sensors 31 to 35 and the position of the actuator 20, the control force calculated from the detection values of the sensors 31 to 35 is used as the actuator. When output to 20, a phase difference is generated between the control force and the modal response vibration of the excitation point.

Here, in the vibration mode having the natural frequency ω, if the phase difference of the natural mode vector component between the position P _Act of the actuator 20 and the sensor positions P12, P27, P29, P41, and P45 is ζ, the sensor positions P12, P27, The speed du _sen / dt at P29, P41, and P45 and the speed du _Act / dt at the position P _Act of the actuator 20 are expressed as shown in Expression (10).

At this time, for example, when the control force f _Act proportional to the speed is calculated, the equation (11) is obtained.

Here, substituting Equation (11) into the equation of motion of the vibration at the position P _Act of the actuator 20 yields Equation (12), and Equation (12) expands to Equation (13).

As can be seen from the equation (13), a phase difference is generated between the control force f and the velocity at the position P _Act , and the control effect is lost. As a result, the control effect is impaired. For example, when the actuator 20 is arranged at the position PA3 in FIG. 19, the phase difference becomes large and the control effect decreases.

  Further, in a certain vibration mode type node, the amplitude of the mode vibration is small, so even if vibration is applied at that position, the influence on the modal response is small. For this reason, when the actuator 20 is arranged at a position that becomes a node, vibration suppression control to the vibration mode that becomes the node is not performed. Therefore, in order to perform vibration suppression control, it is necessary to dispose the actuator 20 other than the vibration mode type node, and it is particularly desirable that the actuator 20 be close to the vibration mode type antinode.

Here, the origin on the complex plane is a position that becomes a node of the vibration mode shape. For example, the position PA2 in FIG. 19 is a position that becomes a node of the primary mode shape. Therefore, the position PA2 is not appropriate as the position P _Act of the actuator 20.

Thus, as the position P _Act of the actuator 20, the position PA1 on the complex plane shown in FIG. 19 is optimized. The method of calculating the position, for example, a phase difference between the phase average value [Phi _m in each mode order m is more extracts small candidate position P, or the phase difference is a combination of adjacent positions of the small candidate positions P Extract multiple sets. A candidate position P or a combination having the largest amplitude B is extracted from these.

Subsequently, the arrangement position of the actuator 20 is determined based on the extracted candidate position P or the combination of candidate positions P (S12 in FIG. 18). In S11, when a certain candidate position P itself is extracted instead of the combination of the adjacent positions P, the candidate position P is determined as the arrangement position P _Act of the actuator 20.

When the combination of the adjacent positions P is extracted in S11, the arrangement position P _Act of the actuator 20 is determined based on the combination. For example, if a set of positions P18 and P19 is extracted by the above processing, an intermediate point between the positions P18 and P19 is determined as an arrangement position of the actuator 20, as indicated by a position P _{Act in} FIG.

As shown in FIG. 20, sensors 31 to 35 are arranged at positions P12, P27, P29, P41, and P45, and actuator 20 is arranged at position P _Act . By mode decomposing using the detected value, the control force of the 1st to 5th order modes is calculated, and the actuator 20 is driven by the control force, thereby suppressing the vibration of the 1st to 5th order vibration modes of the face material 10 Can do.

The reason for this is as follows. A plurality of sensors 31 to 35, the phase difference between the components of the m-th complex eigenmode vector X _m are arranged in reduced position. Therefore, since the phase difference of the intrinsic modal response between the plurality of sensors 31 to 35 arranged becomes small, it can be handled in the same manner as the actual mode, and modal filtering is performed on the detection values of the plurality of sensors 31 to 35. This is because the processing can be applied.

  Further, as the following reason, the modal filtering process can be applied by arranging the arranged sensors 31 to 35 at positions having orthogonality with each other using the orthogonality evaluation value MAC. Because it becomes. Therefore, in the face material 10 having the complex eigenmode vector X, the out-of-plane vibration of the face material 10 can be reliably suppressed by controlling the actuator 20 based on the detection values of the small number of sensors 31 to 35. If the eigenmode vector X at the positions of the plurality of sensors 31 to 35 is close to the primary dependency, the modal filtering process cannot be applied.

  Furthermore, processing for a plurality of mode orders m is performed by modal filtering processing. In particular, as the arrangement positions of the sensors 31 to 35, candidate positions P that can exhibit a vibration suppressing effect for all the plurality of mode orders m are extracted. Therefore, the vibration suppressing effect can be exhibited with respect to the vibration modes of a plurality of mode orders (1 to 5 in the above).

<Second embodiment>
Next, the control apparatus 140 of 2nd embodiment is demonstrated with reference to FIG. As shown in FIG. 22, the control device 140 includes a first control unit 50 and a second control unit 160. The first control unit 50 is the same as in the first embodiment.

  The second control unit 160 does not perform modal filtering, generates a second output signal corresponding to a predetermined mode based on the detection values of the sensors 31 to 35, and controls the actuator 20 based on the second output signal. . The second control unit 160 is executed in parallel with the first control unit 50.

  As shown in FIG. 22, the second control unit 160 includes a mode signal generation unit 161 and a second signal output unit 162. The mode signal generation unit 161 generates a second output signal corresponding to a predetermined mode without performing modal filtering based on the detection values of the sensors 31 to 35. By arranging the sensors 31 to 35 so as to detect vibrations in a predetermined mode, a second output signal corresponding to the predetermined mode is generated without performing modal filtering. For example, the mode signal generator 161 may generate a second output signal corresponding to one type of mode based on the detection value of one sensor, or one type of signal based on the detection values of a plurality of sensors. A second output signal corresponding to the mode may be generated.

  The second signal output unit 162 outputs the second output signal generated by the mode signal generation unit 161 to the actuator 20. In this case, out-of-plane vibration is suppressed by vibrating the actuator 20 based on the second output signal without performing modal filtering.

<Others>
In the first and second embodiments, the threshold straight lines Th _ma and Th _mb are straight lines that pass through the origin and have an inclination of ± ψ _m from the real number axis. In addition, a threshold straight line as shown in FIG. 21 may be used. That is, as shown in FIG. 21, the setting range of the phase difference, with respect to the reference straight line (approximate straight line) La having a slope of the street phase average value [Phi _m an origin at the complex plane, set in both positive and negative directions distance away Two parallel straight lines L1 and L2 are set.

  Then, the phase difference setting range is set to a range between these straight lines L1 and L2 excluding the central range including the origin. This range is indicated by hatching in FIG. By setting the setting range between the straight lines L1 and L2, the candidate position P having a large phase difference is reliably eliminated, so that the vibration suppressing effect can be exhibited.

  Further, by setting the phase difference setting range as a range excluding the central range including the origin, the candidate position P near the origin on the complex plane is excluded. As described above, since the amplitude near the origin is small, even if it is controlled using the sensor detection value at the candidate position P, a sufficient vibration suppressing effect cannot be obtained. Therefore, by determining the arrangement positions of the sensors 31 to 35 from the range excluding the candidate position P in the vicinity of the origin, the vibration suppressing effect can be surely exhibited.

In addition, the reference straight line (approximate straight line) La passes through the origin on the complex plane and represents the phase average value Φ _m of the components of the complex eigenmode vector X _mj at the candidate positions Pj (j = 1 to 55) of the sensors 31 to 35. Although it is a straight line as an inclination, it may be a straight line having an inclination obtained by the least square method at the candidate position Pj of each sensor 31 to 35 on the complex plane and passing through the origin. In this case, the same effect can be obtained.

Further, for ease of processing, as shown in FIG. 13, rotational coordinate transformation of an angle −Φ _m centered on the origin is performed for each candidate position Pj on the complex plane. However, the threshold straight lines Th _ma and Th _mb can also be set without performing rotational coordinate conversion.

10: Face material, 20: Actuator, 31-35: Sensor, 40: Control device, 50: First control unit, 51: Storage unit, 52: Determination unit, 53: First signal output unit, 1a-1c, 5a -5c: first output signal, 60: second control unit, 61: mode decomposition unit, 62: signal generator for each mode, 63: second signal output unit

Claims (11)

An active vibration damping device that suppresses out-of-plane vibration of a face material,
At least one sensor disposed on the face material for detecting the out-of-plane vibration;
An actuator disposed on the face material and imparting vibration to the face material;
A control device for controlling the actuator based on a detection value of the sensor;
With
The control device includes a first control unit that controls the actuator based on a first output signal,
The first controller is
A storage unit for storing a plurality of first output signals to the actuator set in advance according to a vibration level at an initial stage of vibration;
A determination unit that determines a vibration level at an initial stage of vibration based on a detection value of the sensor;
A first signal output unit that outputs the first output signal to the actuator according to the vibration level at the initial stage of the vibration determined by the determination unit;
An active vibration damping device. When the out-of-plane vibration is applied to the face material, the vibration level increases from the first wave to the maximum wave after the first wave, and decreases after the maximum wave,
The initial period of vibration is between the time when the first wave is generated and before the peak time of the maximum wave.
The active vibration damping device according to claim 1.   The active vibration damping device according to claim 2, wherein the first signal output unit outputs the first output signal to the actuator before the peak time of the maximum wave.   4. The active vibration damping device according to claim 3, wherein the first signal output unit starts outputting the first output signal to the actuator and stops outputting the first output signal after a predetermined time.   Each first output signal stored in the storage unit represents each vibration at a predetermined position estimated based on each detection value of the sensor when vibrations having different magnitudes are applied to the face material. The active vibration damping device according to any one of claims 1 to 4, corresponding to a vibration to be reduced. The active vibration damping device includes a plurality of sensors,
The storage unit stores a plurality of first output signals for each of the sensors,
The determination unit determines the sensor that first exceeds a predetermined threshold based on the detection values of the plurality of sensors, and determines the vibration level of the sensor at the initial stage of the vibration,
The first signal output unit outputs the first output signal corresponding to the vibration level of the sensor determined by the determination unit and the initial vibration of the sensor to the actuator.
The active vibration damper according to any one of claims 1 to 5. The active vibration damping device includes a plurality of sensors,
The storage unit stores the plurality of first output signals for each sensor,
The determination unit determines the sensor having the maximum vibration level at the initial stage of vibration based on the detection values of the plurality of sensors, and determines the vibration level of the sensor at the initial stage of vibration.
The first signal output unit outputs the first output signal corresponding to the vibration level of the sensor determined by the determination unit and the initial vibration of the sensor to the actuator.
The active vibration damper according to any one of claims 1 to 5.   The first signal output unit does not output the next first output signal to the actuator from when the first output signal is output to the actuator until the detection value of the sensor falls below a predetermined threshold. The active vibration damping device according to any one of claims 1 to 7. The control device includes a second control unit that controls the actuator based on a second output signal in parallel with the first control unit,
The second controller is
A mode signal generation unit that generates the second output signal corresponding to a predetermined mode based on a detection value of the sensor;
A second signal output unit that outputs the generated second output signal to the actuator;
The active vibration damping device according to claim 1, comprising: The active vibration damping device includes a plurality of sensors,
The control device includes a second control unit that controls the actuator based on a second output signal in parallel with the first control unit,
The second controller is
A mode decomposing unit that acquires vibration for each mode by performing modal filtering based on detection values of the plurality of sensors;
A signal generator for each mode that generates an output signal for each mode based on the vibration for each mode;
A second signal output unit that outputs the second output signal that is a combined output signal to the actuator based on the output signal for each mode;
The active vibration damping device according to claim 1, comprising:   The plurality of sensors are positions determined based on the phase differences of the plurality of complex eigenmode vector components at the candidate positions of the sensors and the orthogonality evaluation values of the plurality of complex eigenmode vectors at the candidate positions of the sensors. The active vibration damping device according to claim 10, wherein

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