JP2018053988A - Active type vibration noise suppression device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an active type vibration noise suppression device capable of suppressing either vibration or noise at an evaluation point stably and easily even if either a sensor or an actuator is not installed at the evaluation point.SOLUTION: Control units 60, 160 comprise a reference control vibration generation part 66 producing a virtual reference control vibration y2; a reference filter coefficient update part 69 updating a reference filter coefficient C2by adaptive control so as to reduce error between an object vibration dat an error detecting point 20 and the reference control vibration y2; a real filter coefficient calculation part 71 for calculating a real filter coefficient C1on the basis of a reference filter coefficient C2and an adjustment coefficient corresponding to a transmittance function B from the error detecting point 20 to an evaluation point 80; and a control signal generating part 62 for generating a control signal u1on the basis of the real filter coefficient C1.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an active device that suppresses vibration or noise.

  For example, Patent Documents 1 and 2 describe that a vibration sensor and an actuator are installed in a steering unit in order to prevent the steering unit from vibrating due to engine vibration in an automobile.

Japanese Patent No. 4107219 Japanese Patent No. 5207991

  However, it may be difficult to install the vibration sensor and the actuator in the steering unit due to space restrictions. On the other hand, when the vibration sensor and the actuator are installed at a position different from the steering unit, the actuator is subjected to adaptive control in consideration of the identified transfer function by previously identifying the transfer function from the position of the vibration sensor to the steering unit. Can be considered. However, in order to calculate a filter coefficient for adaptive control by convolution calculation in consideration of the transfer function, a high-performance calculation device capable of processing a large amount of calculation is required.

  An object of the present invention is to provide an active vibration noise suppression device that can stably and easily suppress vibration or noise at an evaluation point without installing a sensor or an actuator at the evaluation point.

The active vibration noise suppression device according to the present invention is an active vibration noise suppression device for actively suppressing vibration or noise at the evaluation point when vibration from the vibration source is transmitted to the evaluation point. The active vibration noise suppression device is different from the evaluation point in that the vibration generated by the vibration source and the vibration generator that generates the control vibration y1 _(n) based on the control signal u1 _(n) (n is a time step). When transmitted to the error detection point, an error signal e1 _(n) obtained by synthesizing the control vibration y1 _(n) generated by the vibrator with the target vibration d _(n) transmitted to the error detection point. An error signal detector for detecting, and a control device for calculating the control signal u1 _(n) by adaptive control so that the vibration or the noise at the evaluation point is reduced.

The control device includes a reference control vibration generation unit that generates a virtual reference control vibration y2 _(n) , and an error between the target vibration d _(n) and the reference control vibration y2 _(n) at the error detection point. A reference filter coefficient updating unit that updates the reference filter coefficient C2 _(n) by adaptive control so as to reduce the adjustment, and an adjustment according to the reference filter coefficient C2 _(n) and the transfer function B from the error detection point to the evaluation point includes a real filter coefficient calculation unit for calculating a real filter coefficients C1 _(n) on the basis of the coefficient, and a control signal generator for generating the actual filter coefficients C1 _(n) the control signal on the basis of u1 _(n) .

According to the active vibration noise suppression device, the reference filter coefficient C2 _(n) is updated by adaptive control so that the error signal e1 _{(n) at} the error detection point is suppressed. That is, the reference filter coefficient C2 _(n) is updated by adaptive control without considering the transfer function B from the error detection point to the evaluation point. Therefore, in the adaptive control, since the transfer function B from the error detection point to the evaluation point is not taken into consideration, the amount of calculation does not increase, and a high-performance calculation device is not required.

However, the reference filter coefficient C2 _(n) is not a filter for suppressing vibration or noise at the evaluation point, but a filter for suppressing the error signal e1 _(n) at the error detection point. Therefore, the actual filter coefficient calculation unit calculates the actual filter coefficient C1 (n) using the reference filter coefficient C2 _(n) and the adjustment coefficient. Here, the adjustment coefficient is a coefficient corresponding to the transfer function B from the error detection point to the evaluation point. Then, the control signal u1 _(n) is generated using the actual filter coefficient C1 _(n) . Therefore, when the vibrator generates the control vibration y1 _(n) based on the control signal u1 _(n) , the vibration or noise at the evaluation point is reliably suppressed.

It is a figure which shows the structure of the motor vehicle at the time of applying an active vibration noise suppression apparatus to a motor vehicle. It is a schematic block diagram of the active vibration noise suppression device of the first embodiment. It is an axial direction sectional view of an example of a vibrator which constitutes an active vibration noise control device. It is a detailed block diagram of the control apparatus of the active vibration noise suppression apparatus of 1st embodiment. The vibration characteristic at the error detection point when the engine speed is 3000 rpm is shown. The vibration characteristic in the steering unit as an evaluation point when the engine speed is 3000 rpm is shown. The scale of the vertical axis in FIG. 6 is the same as the vertical axis in FIG. When the engine speed is changed from 1000 rpm to 6000 rpm, vibration characteristics at the error detection point are shown. FIG. 7 shows the vibration levels of the total, primary component, and secondary component. When the engine speed is changed from 1000 rpm to 6000 rpm, vibration characteristics in the steering unit as an evaluation point are shown. FIG. 8 shows the vibration levels of the total, primary component, and secondary component. It is a schematic block diagram of the active vibration noise suppression apparatus of 2nd embodiment. It is a detailed block diagram of the control apparatus of the active vibration noise suppression apparatus of 3rd embodiment. It is a figure which shows the threshold value memorize | stored in a coefficient limiter.

<1. First embodiment>
(1-1. Configuration of automobile)
A configuration of an automobile when an active vibration noise suppressing apparatus 1 (hereinafter referred to as “suppressing apparatus”) is applied to an automobile will be described with reference to FIG. As shown in FIG. 1, an engine 10 as a vibration generation source is supported on an engine frame 13 by an engine mount 12 in an engine room partitioned by a partition panel 11. A steering shaft 14 and a steering wheel 15 are attached to the compartment panel 11 in a vehicle compartment partitioned by the compartment panel 11. A floor panel 16 and a seat 17 are fixed to the compartment panel 11 and the engine frame 13 in the vehicle interior.

  The suppression device 1 suppresses vibration or noise at the evaluation point 80 by, for example, actively driving the vibration exciter 30 mounted on the engine mount 12 in an environment where periodic vibration occurs. The evaluation point 80 is a point selected from the steering unit 81, the seat 82, or the vicinity 83 (headrest) of the occupant's ear that constitutes the steering wheel 15, the steering shaft 14, or the like.

  The suppression target by the suppression device 1 is the vibration of the steering unit 81 caused by the vibration of the engine 10, the vibration of the seat caused by the vibration of the engine 10, or the vibration of the floor panel 16 caused by the vibration of the engine 10. The noise generated in the vicinity 83 of the passenger's ears. The suppression device 1 can also target vibration or noise at positions other than those described above.

The suppression device 1 includes a vibration exciter 30, an error signal detector 40, and a control device 60. The control device 60 generates a control signal u1 _(n) (n is a time step) for driving the vibrator 30 by adaptive control. Control device 60 generates control signal u1 _(n) using the error signal detected by error signal detector 40 and the rotational speed of engine 10 detected by rotational speed detector 18 attached to engine 10. To do.

  The error signal detector 40 for use in adaptive control detects vibration at the error detection point 20 different from the evaluation point 80. The error signal detector 40 is fixed to a member fixed to the engine frame 13 side in the engine mount 12. That is, the error detection point 20 is located in the middle of the vibration transmission path from the engine 10 as the vibration generation source to the evaluation point 80. Further, the vibration exciter 30 is provided on the engine mount 12, and is located in the middle of the vibration transmission path from the engine 10 to the evaluation point 80, similarly to the error signal detector 40. As described above, the error signal detector 40 and the vibrator 30 are provided at the error detection point 20 different from the evaluation point 80.

(1-2. Outline of control block diagram)
An outline of a control block diagram of the suppression device 1 will be described with reference to FIG. The vibration of the engine 10 as a vibration source is transmitted to the error detection point 20 via the primary path W, and further transmitted from the error detection point 20 to the evaluation point 80 via the synthesis path (transfer function B).

  When the evaluation point 80 is the steering unit 81, the vibration of the engine 10 is transmitted to the steering unit 81 as the evaluation point 80 via the combined path (transfer function B1). When the evaluation score 80 is the seat 82, the vibration of the engine 10 is transmitted to the seat 82 as the evaluation score 80 via the composite path (transfer function B2). When the evaluation point 80 is in the vicinity of the occupant's ear 83, the vibration of the engine 10 is converted into noise on the way through the synthesis path (transfer function B3), and the occupant's ear vicinity 83 as the evaluation point 80 is obtained. Is transmitted to.

On the other hand, the control signal u1 _(n) generated by the control device 60 of the suppression device 1 is transmitted to the error detection point 20 via the transfer function G of the secondary path. The secondary path is a path from the control device 60 to the error detection point 20. Here, the transfer function G of the secondary path includes a transfer function related to driving of the vibrator 30 and a path transfer function from the vibrator 30 to the error detection point 20. That is, the control vibration generated by the vibration exciter 30 is transmitted to the evaluation point 80 via the error detection point 20 and via the synthesis path (transfer function B).

Therefore, the control device 60 generates the control signal u1 _(n) by adaptive control based on the error signal at the error detection point 20 and the frequency f of the vibration by the engine 10. However, in order to consider the transfer function B of the combined path, the storage unit 70 of the control device 60 stores characteristics related to the transfer function B of the combined path in advance. And the control apparatus 60 is adjusting the adaptive filter using the said characteristic. As will be described later, the adjustment of the adaptive filter is different from the update calculation of the adaptive filter.

(1-3. Configuration of the vibrator 30)
The configuration of the vibrator 30 will be described with reference to FIG. For example, an active engine mount or an active dynamic damper can be applied to the vibrator 30. Here, the vibration exciter 30 is exemplified by an active engine mount.

  As shown in FIG. 3, the vibrator 30 is an electromagnetic vibrator. That is, the vibration exciter 30 includes a coil wound around the stator 36a. The vibrator 30 is limited so that the current flowing through the coil is equal to or lower than the rated current. Here, the rated current includes a temperature rise allowable current that is a current value at which the coil is damaged due to heat generation, and a direct current superposition allowable current that is a current value at which deterioration of inductance increases. In particular, in order to prevent breakage of the coil, the vibration exciter 30 is set so that the current flowing through the coil is equal to or lower than the temperature rise allowable current in the rated current.

The vibrator 30 includes a vibrator 36b that reciprocates to generate control vibration. The moving range of the vibrating body 36 b is restricted by the vibrating body stopper 37. In other words, the vibration exciter 30 produces the limited control vibration y1 _(n) within the range of its own operation limitation, that is, within the range of operation limitation due to the temperature rise allowable current and within the range of movement range limitation by the stopper. Occur.

  This vibrator 30 is described in, for example, Japanese Patent Application Laid-Open No. 2013-61001. The vibration exciter 30 is a member that supports the engine 10 with respect to the engine frame 13 (shown in FIG. 1), and actively vibrates the vibration exciter 36b, thereby actively vibrating the engine 10 to the engine frame. 13 is suppressed.

  The vibrator 30 includes a first mounting bracket 31, a second mounting bracket 32, a main rubber elastic body 33, an elastic partition plate 34, a diaphragm 35, an actuator 36, a vibration body stopper 37, and an attachment. A metal stopper 38 is provided.

  The first mounting bracket 31 is a member that is mounted on the engine 10 side. The second mounting bracket 32 is a member that is formed in a cylindrical shape as a whole by a plurality of members, and is attached to an engine frame as a vibration isolation target member. The first mounting bracket 31 and the second mounting bracket 32 are disposed to face each other while being separated from each other. A main rubber elastic body 33 is interposed between the first mounting bracket 31 and the second mounting bracket 32, and the first mounting bracket 31 and the second mounting bracket 32 are elastically connected.

  An elastic partition plate 34 made of a disc-shaped rubber is disposed inside the second mounting bracket 32 and below the main rubber elastic body 33 in FIG. The elastic partition plate 34 and the main rubber elastic body 33 form a pressure receiving chamber 34a into which vibration from the engine 10 is input. A diaphragm 35 formed of a thin rubber elastic film that can be easily deformed is disposed inside the second mounting member 32 and below the elastic partition plate 34 in FIG. The diaphragm 35 and the elastic partition plate 34 form an equilibrium chamber 34b in which volume change is easily allowed. An incompressible fluid is sealed in the pressure receiving chamber 34a and the equilibrium chamber 34b. Further, the pressure receiving chamber 34a and the equilibrium chamber 34b communicate with each other through an orifice passage.

  The actuator 36 includes a stator 36a and a vibration body 36b that can move relative to the stator 36a in the axial direction (vertical direction in FIG. 3). The stator 36 a is formed in a cylindrical shape and is fixed to the second mounting bracket 32. Further, the stator 36a is wound with a coil.

  The vibrating body 36b constitutes an armature and is disposed so as to be movable in the axial direction through the center hole of the stator 36a. Further, the vibrating body 36 b is connected to the elastic partition plate 34. That is, by supplying a periodic current to the coil of the stator 36a, an electromagnetic force corresponding to the current is generated, and the vibrating body 36b vibrates in the axial direction with respect to the stator 36a by the electromagnetic force. And the elastic partition plate 34 deform | transforms with the vibration to the axial direction with respect to the stator 36a of the vibration body 36b. Thus, the pressure control of the pressure receiving chamber 34 a is performed by the deformation of the elastic partition plate 34. In other words, the vibration of the engine 10 can be prevented from being transmitted to the engine frame 13 side by actively changing the elastic partition plate 34 appropriately and actively changing the pressure in the pressure receiving chamber 34a.

  The vibration body stopper 37 is made of rubber, and is fixed to the second mounting bracket 32 at a position facing the lower surface of the vibration body 36b. The vibrating body stopper 37 restricts the movement of the vibrating body 36b when the vibrating body 36b moves greatly downward. The vibration body stopper 37 can restrict each of the cylindrical vibration body main body constituting the vibration body 36b and the rod connected to the vibration body main body.

  The mounting bracket stopper 38 restricts relative displacement between the first mounting bracket 31 and the second mounting bracket 32. The mounting bracket stopper 38 includes a pair of rubber plates 38 a and 38 b mounted on the first mounting bracket 31. Between the pair of rubber plates 38a, 38b, an abutting portion 32a formed extending from the second mounting bracket 32 is disposed between the pair of rubber plates 38a, 38b. That is, when the first mounting bracket 31 and the second mounting bracket 32 are relatively moved relative to each other, the contact portion 32a contacts the pair of rubber plates 38a and 38b. In FIG. 3, the error signal detector 40 is fixed to the second mounting bracket 32.

(1-4. Configuration of Control Device 60)
The configuration of the control device 60 will be described with reference to FIG. In formulas and drawings, “^” meaning an estimated value is used, but in the text of the specification, the estimated value “hat (^)” is described as “h” for convenience of description.

  The control device 60 includes a frequency calculation unit 61, a control signal generation unit 62, an estimated control vibration calculation unit 63, an estimation target vibration calculation unit 64, a reference control signal generation unit 65, a reference control vibration generation unit 66, A virtual error signal calculation unit 67, an estimated transfer function setting unit 68, a reference filter coefficient update unit 69, a storage unit 70, and an actual filter coefficient calculation unit 71 are provided.

  The frequency calculation unit 61 calculates a fundamental frequency (primary frequency) f of vibration by the engine 10 as a generation source of vibration or noise. Specifically, the frequency calculation unit 61 inputs a periodic pulse signal from the rotational speed detector 18 for detecting the rotational speed of the engine 10. Then, the frequency calculation unit 61 calculates the frequency f of vibration by the engine 10 based on the input pulse signal.

  The fundamental frequency f of vibration by the engine is expressed by equation (1). In Expression (1), R is the number of revolutions per minute of the engine 10, and Na is the number of times that ignition is performed while the crankshaft makes one revolution.

  For example, in the case of an in-line four-cylinder engine, ignition is performed four times while the crankshaft rotates twice. Therefore, ignition is performed twice during one rotation of the crankshaft. As described above, the number of times of ignition during one rotation of the crankshaft is determined by the configuration of the engine 10. When the rotational speed of the engine 10 is 3000 rpm, the fundamental frequency (primary frequency) f is 100 Hz, the secondary frequency (2f) is 200 Hz, and the tertiary frequency (3f) is 300 Hz. The value obtained by multiplying the fundamental frequency f by 2π is the angular frequency ω. Therefore, the frequency calculation unit 61 can also calculate the angular frequency ω.

The control signal generator 62 generates the control signal u1 _(n) based on the actual filter coefficient C1 _(n) . The control signal u1 _(n) is, for example, a sine wave signal expressed as Equation (2). The control signal u1 _(n) is represented by a combination of a primary component (basic component) and a secondary component. However, the control signal u1 _(n) can also synthesize third-order or higher components. In equation (2), a11 _(n) is the amplitude coefficient of the primary component, a12 _(n) is the amplitude coefficient of the secondary component, and φ11 _(n) is the phase coefficient of the primary component. , Φ12 _(n) is the phase coefficient of the secondary component, ω is the angular frequency calculated by the frequency calculation unit 61, and t _(n) is the sampling time.

Here, the actual filter coefficient C1 _(n) includes amplitude coefficients a11 _(n) and a12 _(n) and phase coefficients φ11 _(n) and φ12 _(n) as shown in the equation (3). That is, the control signal _{u1 (n),} the amplitude coefficients _a11 real filter coefficients _{C1 (n) (n),} a12 (n), the phase coefficient _{φ11 (n), φ12 (n} ), and the frequency of vibration due to the engine 10 Generated based on f.

The estimated control vibration calculation unit 63 calculates an estimated control vibration y1h _(n) that is an estimated value of the control vibration y1 _(n) . Specifically, the estimated control vibration calculation unit 63 performs the estimated control vibration y1h based on the control signal u1 _(n) and the estimated transfer function Gh that is the estimated value of the transfer function G of the secondary path according to the equation (4). _(N) is calculated. The secondary path is a path from the control signal generator 62 to the error detection point 20. That is, the transfer function G of the secondary path includes the transfer function of the shaker 30 and the transfer function G2 from the shaker 30 to the error detection point 20. Further, the estimated transfer function Gh is obtained by identifying the transfer function G of the secondary path in advance by driving the vibrator 30. When identifying the estimated transfer function Gh, at this time, the vibration exciter 30 is driven so as to be within the range of its own operation restriction.

The estimation target vibration calculation unit 64 calculates an estimation target vibration dh _(n) that is an estimated value of the target vibration d _(n) . Specifically, the estimation target vibration calculation unit 64 calculates the estimation target vibration dh _(n) by subtracting the estimated control vibration y1h _(n) from the error signal e1 _(n) according to the equation (5).

The reference control signal generation unit 65 generates a reference control signal u2 _(n) based on the reference filter coefficient C2 _(n) . The reference control signal u2 _(n) is, for example, a sine wave signal expressed as Equation (6). The reference control signal u2 _(n) is represented by a combination of a primary component (basic component) and a secondary component, like the control signal u1 _(n) . However, the reference control signal u2 _(n) can also synthesize third-order or higher components. In equation (6), a21 _(n) is the amplitude coefficient of the primary component, a22 _(n) is the amplitude coefficient of the secondary component, and φ21 _(n) is the phase coefficient of the primary component. , Φ22 _(n) is the phase coefficient of the secondary component, ω is the angular frequency calculated by the frequency calculator 61, and t _(n) is the sampling time.

Here, the reference filter coefficient C2 _(n) includes amplitude coefficients a21 _(n) and a22 _(n) and phase coefficients φ21 _(n) and φ22 _(n) as shown in Expression (7). That is, the reference control signal _{u2 (n),} the amplitude coefficient _a21 of the reference filter coefficients _{C2 (n) (n),} a22 (n), the phase coefficient _{φ21 (n), φ22 (n} ), and, the vibration due to the engine 10 It is generated based on the frequency f.

The reference control vibration generation unit 66 generates a virtual reference control vibration y2 _(n) at the virtual error detection point 21. The virtual error detection point 21 is a position corresponding to the error detection point 20 and is an error detection point used only for calculation in the control device 60. The reference control vibration y2 _(n) is a vibration at the error detection point 20 for damping the target vibration d _(n) . Then, the reference control vibration generation unit 66 calculates the reference control vibration y2 _(n) based on the reference control signal u2 _(n) and the estimated transfer function Gh according to the equation (8).

The virtual error signal calculator 67 calculates a virtual error signal e2 _(n) obtained by combining the reference control vibration y2 _(n) with the estimation target vibration dh _(n) at the virtual error detection point 21 according to the equation (9).

  The estimated transfer function setting unit 68 stores in advance the amplitude coefficient and phase coefficient of the estimated transfer function Gh according to the primary frequency f of the vibration of the engine 10. Then, the estimated transfer function setting unit 68 determines the amplitude coefficient A1h and the phase coefficient Φ1h of the estimated transfer function Gh corresponding to the frequency f based on the frequency f calculated by the frequency calculating unit 61.

The reference filter coefficient updating unit 69 uses the DXHS algorithm with amplitude and phase as variables, and amplitude coefficients a21 _(n) and a22 _(n) and phase coefficients φ21 _(n) and φ22 _(in the reference filter coefficient C2 _(n) . _n) is updated. Reference filter coefficient updating unit 69 uses the virtual error signal _{e2 (n),} calculates a reference filter coefficient _{C2 (n)} by an adaptive control as a virtual error signal _{e2 (n)} becomes smaller. In other words, the reference filter coefficient updating unit 69 updates the adaptive control reference filter coefficient _{C2 (n)} of the reference control signal _{u2 (n)} for generating a reference control vibration _{y2 (n)} in the vibrator 30.

The reference filter coefficient updating unit 69, for example, in accordance with the equations (10) and (11), the update value Δa21 _{(n + 1)} of the amplitude coefficient a21 _(n) of the reference filter coefficient C2 _(n) and the phase coefficient φ21 _(n) An update value Δφ21 _{(n + 1)} is calculated. In equations (10) and (11), μ _a1 and μ _φ1 are step size parameters.

Reference filter coefficient updating unit 69, likewise calculated update value of the amplitude coefficient of the reference filter coefficient _{C2 (n) a22 (n)} Δa22 (n + 1), and update values of the phase coefficients φ22 _(n) Δφ22 the _{(n + 1)} To do.

The updated amplitude coefficient a21 _{(n + 1)} and phase coefficient φ21 _{(n + 1)} are as shown in equations (12) and (13). Also, the amplitude coefficient a22 _{(n + 1)} and the phase coefficient φ22 _{(n + 1)} are updated in the same manner. As described above, the reference control signal u2 _(n) generated by the reference control signal generation unit 65 uses the updated amplitude coefficients a21 _{(n + 1)} and a22 _{(n + 1)} and the phase coefficients φ21 _{(n + 1)} and φ22 _{(n + 1)} . Generated.

  The storage unit 70 stores an adjustment coefficient corresponding to the transfer function B (B1, B2, B3) from the error detection point 20 to the evaluation point 80. As shown in Table 1, the adjustment coefficient includes an amplitude component and a phase component. Further, the amplitude component and the phase component of the adjustment coefficient are set for each order of vibration by the engine 10. Further, the amplitude component and the phase component of the adjustment coefficient are set to different values according to the frequency band of the primary frequency f of vibration by the engine 10. In the present embodiment, the frequency band of the primary frequency f is set to f1 to f2, f2 to f3, and f3 to f4.

  For example, in the case of an in-line four-cylinder engine, the primary frequency f1 is 33 Hz corresponding to the engine speed of 1000 rpm, f2 is 66 Hz corresponding to 2000 rpm, f3 is 133 Hz corresponding to 4000 rpm, and f4 is 6000 rpm. It corresponds to 200 Hz.

The actual filter coefficient calculation unit 71 calculates the actual filter coefficient C1 _(n) based on the reference filter coefficient C2 _(n) and the adjustment coefficient stored in the storage unit 70. The actual filter coefficient calculation unit 71 calculates the actual filter coefficient C1 _(n) according to the equations (14) to (17). That is, the actual filter coefficient calculation unit 71 corrects the reference filter coefficient C2 _(n) using the adjustment coefficient.

That is, from the equations (14) and (15), the amplitude coefficients a11 _(n) and a12 _(n) of the actual filter coefficient C1 _(n) are the amplitude coefficients a21 _(n) and a22 _{(n )} of the reference filter coefficient C2 _{(n). ) Multiplied} by the amplitude components A _ad11 , A _ad21 , A _ad31 , A _ad12 , A _ad22 , and A _ad32 of the adjustment coefficient. Further, from the equations (16) and (17), the phase coefficients φ11 _(n) and φ12 _{(n) of} the actual filter coefficient C1 _(n) are the phase coefficients φ21 _(n) and φ22 _{(n )} of the reference filter coefficient C2 _{(n). )} the adjustment factor phase components _{φ ad11, φ ad21, φ ad31} , φ ad12, φ ad22, a value obtained by adding a phi _AD32. The actual filter coefficient C1 _(n) is used by the control signal generator 62 to generate the control signal u1 _(n) .

(1-5. Specific examples of adjustment factors)
A specific example of the adjustment coefficient will be described with reference to FIGS. FIG. 5 is a frequency characteristic of a detected value by the error signal detector 40 when the vibration generator 30 is not driven when the rotational speed of the engine 10 is 3000 rpm. FIG. 6 shows the frequency characteristics of vibration in the steering unit 81 as the evaluation point 80 when the vibration speed of the engine 10 is 3000 rpm and the vibrator 30 is not driven.

  As can be seen from FIG. 5, the primary frequency of vibration by the engine 10 is 100 Hz, and the secondary frequency is 200 Hz. Here, the vibration level near 100 Hz, which is the primary frequency in FIG. 6, is smaller than the vibration level at the error detection point 20 in FIG. On the other hand, the vibration level in the vicinity of 200 Hz, which is the secondary frequency in FIG. 6, is higher than the vibration level at the error detection point 20 in FIG. That is, when the rotational speed of the engine 10 is 3000 rpm, the influence of the vibration of the primary frequency is small and the influence of the vibration of the secondary frequency is large.

  5 and 6 show the case where the rotational speed of the engine 10 is 3000 rpm. Therefore, when the rotational speed of the engine 10 is changed, the influence of the primary frequency component of vibration and the influence of the secondary frequency component of vibration are shown. To consider.

  FIG. 7 shows vibration characteristics at the error detection point 20 when the rotational speed of the engine 10 is changed from 1000 rpm to 6000 rpm. As can be seen from FIG. 7, the overall vibration level (total) gradually increases as the rotational speed of the engine 10 increases. Further, the vibration level of the primary component and the vibration level of the secondary component gradually increase as the rotational speed of the engine 10 increases. The vibration level of the primary component is higher than the vibration level of the secondary component in the entire range of the engine 10 rotation speed of 1000 rpm to 6000 rpm.

  FIG. 8 shows vibration characteristics in the steering unit 81 that is one of the evaluation points 80 when the rotational speed of the engine 10 is changed from 1000 rpm to 6000 rpm. As can be seen from FIG. 8, when the rotational speed of the engine 10 changes, the overall vibration level (total) changes periodically. Specifically, the entire vibration level shows a minimum value when the rotation speed of the engine 10 is around 1000 rpm, 2000 rpm, 4000 rpm, and 6000 rpm. That is, the overall vibration level shows a maximum value when the engine speed is around 1000 to 2000 rpm, around 2000 to 4000 rpm, and around 4000 to 6000 rpm.

  However, paying attention to the vibration level of the primary component, the vibration level of the primary component has a maximum value when the rotation speed of the engine 10 is 1000 to 2000 rpm and 4000 to 6000 rpm. On the other hand, paying attention to the vibration level of the secondary component, the vibration level of the secondary component has a maximum value when the rotational speed of the engine 10 is 2000 to 4000 rpm and 4000 to 6000 rpm.

  That is, according to FIG. 7, at the error detection point 20, the vibration level of the primary component always has a greater influence than the vibration level of the secondary component regardless of the rotational speed of the engine 10. On the other hand, according to FIG. 8, at the evaluation point 81, when the influence of the vibration level of the primary component is mainly due to the rotation speed band of the engine 10, the influence of the vibration level of the secondary component is main. In some cases, the effects of vibration levels of the primary component and the secondary component are both dominant. Specifically, when the rotational speed of the engine 10 is 1000 to 2000 rpm, the influence of the vibration level of the primary component is mainly, and when 2000 to 4000 rpm, the influence of the vibration level of the secondary component is mainly. At ˜6000 rpm, the vibration levels of the primary component and the secondary component are both dominant.

Two examples of the method for determining the amplitude component of the adjustment coefficient are given below. As a first example, the amplitude component A _ad is calculated according to Equation (18). For example, the primary amplitude component A _ad21 is a value obtained by dividing the maximum value D1 by the target level Dt at the rotation speed N (frequency f) of the engine 10 at the maximum value D1 in the target frequency band. At this time, the secondary amplitude component A _ad22 is a value obtained by dividing the vibration level D2 at the rotation speed N (frequency f) by the target level Dt.

Further, the amplitude component A _ad as the second example is calculated according to the equation (19). In Equation (19), p is a preset coefficient. For example, the primary amplitude component A _ad21 is a value obtained by adding 1 to the value obtained by subtracting the target level Dt from the maximum value D1. On the other hand, the secondary amplitude component A _ad22 is a value obtained by adding 1 to the value obtained by subtracting the target level Dt from the vibration level D2.

It is assumed that f1 is 33 Hz corresponding to 1000 rpm, f2 is 66 Hz corresponding to 2000 rpm, f3 is 133 Hz corresponding to 4000 rpm, and f4 is 200 Hz corresponding to 6000 rpm. The primary amplitude component A ad11 of the adjustment coefficient in _{f1 to f2} is 1.8, and the secondary amplitude component A _ad12 is 1. The primary amplitude component A ad21 of the adjustment coefficient at _{f2 to f3} is 1.2, and the secondary amplitude component A _ad22 is 1.8. The primary amplitude component A ad31 of the adjustment coefficient at _{f3 to f4} is 1.5, and the secondary amplitude component A _ad32 is 1.4.

In this way, the actual filter coefficient calculation unit 71 calculates the actual filter coefficient C1 _(n) by performing addition / subtraction / multiplication / division of the adjustment coefficient with respect to the reference filter coefficient C2 _(n) . Therefore, the actual filter coefficient C1 _(n) can be calculated very easily. Further, the adjustment coefficient is set to a different value according to the order of the control signal u1 _(n) , and is set to a different value according to the frequency band of vibration by the engine 10. Thereby, vibration or noise at the evaluation point 80 can be reliably suppressed.

<2. Second embodiment>
The control apparatus 60 of the suppression apparatus 11 of 2nd embodiment is demonstrated with reference to FIG. In the first embodiment, the evaluation point 80 is one point selected from the steering unit 81, the seat 82, or the vicinity 83 (headrest) of the passenger's ear that constitutes the steering wheel 15, the steering shaft 14, or the like. . That is, the evaluation score 80 is determined in advance.

  In the second embodiment, as shown in FIG. 9, the evaluation point 80 can be selected. That is, the storage unit 70 stores adjustment coefficients corresponding to the transfer functions B1, B2, and B3 of the combined path corresponding to the evaluation points 81, 82, and 83, respectively. The adjustment factors are as shown in Table 2.

For example, the occupant can select a vibration or noise suppression target, and the actual filter coefficient calculation unit 71 of the control device 60 operates so that the selected suppression target is the evaluation point 80. That is, the actual filter coefficient calculation unit 71 calculates the actual filter coefficient C1 _(n) using the adjustment coefficient corresponding to the selected suppression target.

<3. Third Embodiment>
(3-1. Configuration of Control Device 160)
The control apparatus 160 of the suppression apparatus 100 of 3rd embodiment is demonstrated with reference to FIG. The suppression device 100 further includes a temperature detector 150 with respect to the suppression device 1 of the first embodiment. The temperature detector 150 is installed in the vicinity of the vibrator 30 and detects the environmental temperature T where the vibrator 30 is installed. The control device 160 further includes a coefficient limiter 172 with respect to the control device 60 of the first embodiment.

Here, the vibration exciter 30 has a limited control vibration y1 _(n) within the range of its own operation limitation, that is, within the range of operation limitation due to the temperature rise allowable current and within the range of movement range limitation by the stopper. Is generated.

Further, the reference control vibration generation unit 66 generates a virtual reference control vibration y2 _(n) at the virtual error detection point 21. Here, the reference control vibration y2 _(n) is a vibration at the error detection point 20 for damping the target vibration d _(n) when it is assumed that the vibration exciter 30 has no operation restriction.

Therefore, if the vibration exciter 30 inputs a control signal u1 ′ _(n) that exceeds the operation limit, the vibration is limited instead of the control vibration y1 ′ _(n) corresponding to the control signal u1 ′ _(n) . A control vibration y1 _(n) is generated. In this case, the error signal e1 _(n) detected by the error signal detector 40 at the error detection point 20 and the virtual error signal e2 _(n) calculated by the virtual error signal calculation unit 67 at the virtual error detection point 21 are , Become different values.

Therefore, in the present embodiment, the reference filter coefficient update unit 69 updates the reference filter coefficient C2 _(n) so that the virtual error signal e2 _(n) becomes small, and the actual filter coefficient calculation unit 71 calculates the reference filter coefficient. The actual filter coefficient C1 _(n) is calculated by performing addition / subtraction / multiplication / division of the adjustment coefficient with respect to C2 _(n) . Then, the coefficient limiter 172 further corrects the actual filter coefficient C1 _(n) of the control signal u1 _(n) so as to be within the range of operation restriction of the vibrator 30 itself.

The coefficient limiter 172 stores a threshold value Th _(limit) . The threshold value Th _(limit) is a value corresponding to the operation restriction of the vibration exciter 30 and is used for the correction process for the actual filter coefficient C1 _(n) calculated by the actual filter coefficient calculation unit 71. The threshold Th _(limit) is set to a different value according to the frequency f and the environmental temperature T. Here, the threshold Th _(limit) is a value corresponding to each amplitude coefficient a11 _(n) , a12 _(n) . Then, the coefficient limiter 172 determines a threshold Th _(limit) based on the frequency f and the environmental temperature T.

Further, the coefficient limiter 172 corrects the actual filter coefficients _{C1 (n)} on the basis of the actual filter coefficients _C1 calculated by the real filter coefficient calculation unit 71 _(n) and the threshold value _Th and _(limit). Specifically, the coefficient limiter 172, the amplitude coefficient _a11 of the actual filter coefficients _{C1 (n)} (n), is compared to _a12 and _(n) with the threshold value _{Th (limit).} As shown in equation _{(20), a11 (n)} <Th (limit) in the case of the coefficient limiter 172, the amplitude coefficient _{a11 (n)} of the actual filter coefficients _C1 of the real filter coefficients _{C1 (n) (n)} Is selected as the amplitude coefficient a11 _(n) . On the other hand, when Th _(limit) ≦ a11 _(n) , the coefficient limiter 172 selects the threshold Th _(limit) as the amplitude coefficient a11 _(n) of the actual filter coefficient C1 _(n) . The coefficient limiter 172 performs the same process on the amplitude coefficient a12 _(n) .

That is, the actual filter coefficient calculation unit 71 and the coefficient limiter 172 are selected as shown in Expression (21) with respect to the reference filter coefficient C2 _(n) as a whole.

Here, the coefficient limiter 172 does not change the phase coefficients φ11 _(n) and φ12 _(n) calculated by the actual filter coefficient calculation unit 71. That is, the phase coefficients φ11 _(n) and φ12 _(n) are not corrected. The amplitude coefficients a11 _(n) and a12 _(n) and the phase coefficients φ11 _(n) and φ12 _(n) of the actual filter coefficient C1 _(n) obtained by the coefficient limiter 172 are obtained by the control signal generation unit 62 described above. Used to generate the control signal u1 _(n) .

(Description of 3-2. Threshold Th _(limit) )
Next, the threshold Th _(limit) will be described with reference to FIG. As shown in FIG. 11, the threshold value Th _(limit) is set according to the frequency f, and is set according to the environmental temperature T (in FIG. 11, three types of Ta, Tb, and Tc are shown). ing.

In FIG. 11, the threshold Th _(limit) is expressed as a voltage. The threshold Th _(limit) is a value corresponding to each amplitude coefficient a11 _(n) , a21 _(n) . That is, each amplitude coefficient a11 _(n) , a21 _(n) and the control signal u1 _(n) are represented by voltages.

As the threshold Th _(limit) , first thresholds Th1 (Ta), Th1 (Tb), Th1 (corresponding to a temperature rise allowable current that is a current that damages the coil of the stator 36a of the actuator 36 of the vibrator 30 due to heat generation) Tc) and second threshold values Th2 (Ta), Th2 (Tb), and Th2 (Tc) corresponding to the current when the vibrating body 36b contacts the vibrating body stopper 37 are set. The symbols in parentheses indicate the corresponding environmental temperatures Ta, Tb, Tc. For example, the first threshold Th1 (Ta) is the first threshold Th1 at the environmental temperature Ta.

  The first threshold values Th1 (Ta), Th1 (Tb), and Th1 (Tc) are set in a wide frequency band, and become larger as the frequency f is larger. On the other hand, the second threshold values Th2 (Ta), Th2 (Tb), and Th2 (Tc) are set only in a low frequency band, and increase as the frequency f increases. Here, since the amplitude of the vibrating body 36b increases when the frequency f is low, the vibrating body 36b may come into contact with the vibrating body stopper 37 in a band where the frequency f is low. Therefore, the second threshold values Th2 (Ta), Th2 (Tb), and Th2 (Tc) are set only in the low frequency band.

  Here, Ta, Tb, and Tc indicate the environmental temperature T, and have a relationship of Ta <Tb <Tc. That is, the first threshold values Th1 (Ta), Th1 (Tb), Th1 (Tc) and the second threshold values Th2 (Ta), Th2 (Tb), Th2 (Tc) are smaller as the environmental temperature T is higher. . Since the coil resistance decreases as the environmental temperature T increases, the current increases when the voltage is constant. Therefore, as described above, the first threshold values Th1 (Ta), Th1 (Tb), Th1 (Tc) and the second threshold values Th2 (Ta), Th2 (Tb), Th2 (Tc) correspond to the environmental temperature T. Set to value.

That is, the coefficient limiter 172 determines the threshold Th _(limit) according to the frequency f calculated by the frequency calculation unit 61 and according to the environmental temperature T detected by the temperature detector 150. The coefficient limiter 172 in accordance with equation (20), compared to the threshold value _{Th (limit)} the amplitude coefficient _{a11 (n),} determines the amplitude coefficients _{a11 (n)} of the actual filter coefficients _{C1 (n).}

In the above embodiment, the threshold value Th _(limit) changes according to the frequency f and the environmental temperature T. In addition to this, the threshold Th _(limit) can be changed only in accordance with the frequency f, and can be changed only in accordance with the environmental temperature T. The threshold Th _(limit) has a first threshold Th1 and a second threshold Th2. In addition, the threshold value Th _(limit) may have only the first threshold value Th1, or may have only the second threshold value Th2. Further, in the frequency band where the first threshold Th1 and the second threshold Th2 overlap, the smaller one of the first threshold Th1 and the second threshold Th2 is selected and used as the threshold Th _(limit) , or the amplitude coefficient a11 ₍ It is also possible to select and use the smaller one of the amplitude coefficients a11 _(n) selected from the comparison result between _n) and the first threshold Th1 and the second threshold Th2.

<4. Effect>
The suppression devices 1 and 100 according to the first to third embodiments actively suppress vibration or noise at the evaluation point 80 when vibration from the vibration source is transmitted to the evaluation point 80. The suppression devices 1 and 100 detect an error in which the vibration generated by the vibration source from the vibration source 30 and the vibration source 30 that generates the control vibration y1 _(n) based on the control signal u1 _(n) (n is a time step) is different from the evaluation point 80. when it is transmitted to the point 20, the target vibration transmitted to the error detecting point 20 d _(n), for detecting an error signal by combining the control vibration y1 _(n) of the acoustic transducer 30 generates e1 _(n) An error signal detector 40 and control devices 60 and 160 for calculating the control signal u1 _(n) by adaptive control so that the vibration at the evaluation point 80 or the noise is reduced are provided.

The control devices 60 and 160 include a reference control vibration generation unit 66 that generates a virtual reference control vibration y2 _(n) , and an error between the target vibration d _(n) and the reference control vibration y2 _(n) at the error detection point 20. a reference filter coefficient updating unit 69 for updating the reference filter coefficients C2 _(n) of the adaptive control so as to reduce, in accordance with the transfer function B of the reference filter coefficients C2 _(n) and to the evaluation point 80 from the error detection point 20 An actual filter coefficient calculation unit 71 that calculates an actual filter coefficient C1 _(n) based on the adjustment coefficient, and a control signal generation unit 62 that generates a control signal u1 _(n) based on the actual filter coefficient C1 _(n) Prepare.

According to the suppression devices 1 and 100, the reference filter coefficient C2 _(n) is updated by adaptive control so that the error signal e1 _{(n) at the} error detection point 20 is suppressed. That is, the reference filter coefficient C2 _(n) is updated by adaptive control without considering the transfer function B from the error detection point 20 to the evaluation point 80. Therefore, in the adaptive control, since the transfer function B from the error detection point 20 to the evaluation point 80 is not taken into consideration, the amount of calculation does not increase and a high-performance arithmetic device is not required.

However, the reference filter coefficient C2 _(n) is not a filter for suppressing vibration or noise at the evaluation point 80, but a filter for suppressing the error signal e1 _(n) at the error detection point 20. Therefore, the actual filter coefficient calculation unit 71 calculates the actual filter coefficient C1 _(n) using the reference filter coefficient C2 _(n) and the adjustment coefficient. Here, the adjustment coefficient is a coefficient corresponding to the transfer function B from the error detection point 20 to the evaluation point 80. Then, the control signal u1 _(n) is generated using the actual filter coefficient C1 _(n) . Therefore, when the vibration exciter 30 generates the control vibration y1 _(n) based on the control signal u1 _(n) , the vibration or noise at the evaluation point 80 is reliably suppressed.

In more detail, the control devices 60 and 160 are configured as follows. That is, the control devices 60 and 160 control vibration y1 _(n) based on the control signal u1 _(n) and the estimated transfer function Gh that is an estimated value of the transfer function from the control signal generator 62 to the error detection point 20. The estimated control vibration y1h _(n) , which is an estimated value of the estimated vibration, and the estimated control vibration y1h _(n) are subtracted from the error signal e1 _(n) to subtract the estimated control vibration y1h _(n) . An estimation target vibration calculation unit 64 that calculates an estimation target vibration dh _(n) that is an estimated value; a reference control signal generation unit 65 that generates a reference control signal u2 _(n) based on the reference filter coefficient C2 _(n) ; A reference control vibration generator 66 that generates a virtual reference control vibration y2 _(n) based on the reference control signal u2 _(n) and the estimated transfer function Gh, and an estimation target vibration dh _{(n) at the} virtual error detection point 21 In A virtual error signal calculation unit 67 for calculating a virtual error signal e2 _(n) which was synthesized virtual standards control vibration y2 (n), the reference filter coefficients C2 by the adaptive control so as to reduce the virtual error signal e2 _(n) A reference filter coefficient updating unit 69 for calculating _(n) .

Since the control devices 60 and 160 are configured as described above, the virtual error signal e2 _(n) at the virtual error detection point 21 can be calculated. Thus calculated, the reference filter coefficient updating unit 69, by using the virtual error signal e2 _(n), the adaptive control so as to reduce the virtual error signal e2 _(n), ensures the reference filter coefficients C2 _(n) of can do.

  In the control devices 60 and 160, the adjustment coefficient includes an amplitude component, and the amplitude component of the adjustment coefficient is set to a different value according to the vibration frequency f of the vibration source. The degree of influence of the amplitude component of the transfer function B varies depending on the vibration frequency f of the vibration source. Therefore, as described above, the amplitude component of the adjustment coefficient is set so as to correspond to the amplitude component of the transfer function B. As a result, vibration or noise at the evaluation point 80 can be reliably suppressed.

Further, the control signal u1 _(n) is a signal obtained by combining a plurality of order components, and the amplitude component of the adjustment coefficient corresponds to the order of the control signal u1 _(n) . The amplitude component of the adjustment coefficient has a different value depending on the vibration frequency of the vibration source, and is set to a different value depending on the order of the control signal u1 _(n) . When the control signal u1 _(n) is a signal obtained by synthesizing a plurality of order components (for example, a primary component and a secondary component), the degree of influence of the amplitude component of the transfer function B varies depending on the order. Therefore, as described above, the amplitude component of the adjustment coefficient is set so as to correspond to the amplitude component of the transfer function B. As a result, vibration or noise at the evaluation point 80 can be reliably suppressed.

In the above description, the amplitude component of the adjustment coefficient is set to a different value according to the frequency f of the vibration source and the order of the control signal u1 _(n) . The adjustment coefficient further includes a phase component in addition to the amplitude component. In this case, the phase component of the adjustment coefficient is also set to a different value according to the vibration frequency f of the vibration source. The phase component of the transfer function B varies depending on the vibration frequency f of the vibration source. Therefore, the phase component of the adjustment coefficient is set so as to correspond to the phase component of the transfer function B. As a result, vibration or noise at the evaluation point 80 can be reliably suppressed.

Furthermore, the phase component of the adjustment coefficient has a different value according to the vibration frequency f of the vibration source, and is set to a different value according to the order of the control signal u1 _(n) . When the control signal u1 _(n) is a signal obtained by synthesizing a plurality of order components (for example, a primary component and a secondary component), the phase component of the transfer function B differs depending on the order. Therefore, the phase component of the adjustment coefficient is set so as to correspond to the phase component of the transfer function B. As a result, vibration or noise at the evaluation point 80 can be reliably suppressed.

  Further, the amplitude component of the adjustment coefficient includes the vibration or noise levels D1 and D2 caused by the vibration source (engine 10) at the evaluation point 80 and the set target as shown in the equation (18) or the equation (19). It is set based on the level Dt. That is, the amplitude component of the adjustment coefficient is set so that the vibration or noise at the evaluation point 80 becomes the target level. Therefore, vibration or noise at the evaluation point 80 can be suppressed to the target level.

  As shown in FIG. 8, the target level is set to a different value according to the vibration frequency f of the vibration source. The vibration level that can be suppressed depends on the frequency f depending on the setting of the amplitude of the adjustment coefficient. Therefore, by setting the target level to a different value according to the frequency f, the effect of adaptive control can be appropriately exhibited.

  In the second embodiment, the control device 60 includes a storage unit 70 that stores a plurality of adjustment coefficients corresponding to the plurality of evaluation points 81, 82, and 83. At this time, the actual filter coefficient calculation unit 71 uses an adjustment coefficient selected from a plurality of adjustment coefficients stored in the storage unit 70 in accordance with the target evaluation points 81, 82, and 83. The occupant can select a part where vibration or noise is to be suppressed. Therefore, it is possible to reliably suppress the vibration or noise of the part to be suppressed.

In the third embodiment, the control device 160 determines the actual filter coefficient C1 _(n) based on the actual filter coefficient C1 _{( n)} calculated by the actual filter coefficient calculation unit 71 and the threshold Th _(limit) corresponding to the operation restriction. a coefficient limiter 172 for correcting _n) . Therefore, when the vibration exciter 30 operates based on the control signal u1 _(n) , the vibration exciter 30 can reliably operate within the range of its own operation restriction. Therefore, the control vibration expected by the control signal generation unit 62 matches the control vibration y1 _(n) actually generated by the vibration exciter 30. As a result, although the operation of the vibration exciter 30 is restricted within its own operation restriction range, vibration or noise is reliably suppressed at the evaluation point 80.

DESCRIPTION OF SYMBOLS 1,100: Active vibration noise suppression apparatus, 10: Engine (vibration source), 18: Revolution detector, 20: Error detection point, 21: Virtual error detection point, 30: Exciter, 36: Actuator, 36b : Vibrator, 37: stopper for vibration body, 40: error signal detector, 60, 160: control device, 61: frequency calculation section, 62: control signal generation section, 63: estimated control vibration calculation section, 64: Estimation target vibration calculation unit 65: Reference control signal generation unit 66: Reference control vibration generation unit 67: Virtual error signal calculation unit 68: Estimated transfer function setting unit 69: Reference filter coefficient update unit 70: Storage unit , 71: actual filter coefficient calculation unit, 80, 81, 82, 83: evaluation point, 150: temperature detector, 172: coefficient limiter

Claims (9)

An active vibration noise suppression device for actively suppressing vibration or noise at the evaluation point when vibration from the vibration source is transmitted to the evaluation point,
A vibrator for generating a control vibration y1 _(n) based on a control signal u1 _(n) (n is a time step);
When the vibration generated by the vibration source is transmitted to an error detection point different from the evaluation point, the control vibration y1 generated by the vibrator in the target vibration d _(n) transmitted to the error detection point. an error signal detector for detecting an error signal _e1 obtained by combining the _{(n) (n),}
A control device that calculates the control signal u1 _(n) by adaptive control so that the vibration or noise at the evaluation point is reduced;
With
The controller is
A reference control vibration generator for generating a virtual reference control vibration y2 _(n) ;
A reference filter coefficient update unit that updates a reference filter coefficient C2 _(n) by adaptive control so as to reduce an error between the target vibration d _(n) and the reference control vibration y2 _(n) at the error detection point;
An actual filter coefficient calculation unit that calculates an actual filter coefficient C1 _(n) based on the reference filter coefficient C2 _(n) and an adjustment coefficient corresponding to the transfer function B from the error detection point to the evaluation point;
A control signal generator for generating the control signal u1 _(n) based on the actual filter coefficient C1 _(n) ;
An active vibration noise suppression device comprising: The controller is
Based on the control signal u1 _(n) and an estimated transfer function Gh that is an estimated value of a transfer function from the control signal generation unit to the error detection point, an estimated control that is an estimated value of the control vibration y1 _(n). An estimated control vibration calculation unit for calculating vibration y1h _(n) ;
By subtracting the estimated control vibration _y1h from the error signal _{e1 (n) (n),} and the object estimation target vibration calculating unit that calculates estimated value in the form of the estimation target vibration _{dh (n)} of the vibration _{d (n)} ,
A reference control signal generator for generating a reference control signal u2 _(n) based on the reference filter coefficient C2 _(n) ;
The reference control vibration generating unit that generates the virtual reference control vibration y2 _(n) based on the reference control signal u2 _(n) and the estimated transfer function Gh;
A virtual error signal calculation unit that calculates a virtual error signal e2 _(n) obtained by synthesizing the virtual reference control vibration y2 _(n) with the estimation target vibration dh _(n) at a virtual error detection point;
The reference filter coefficient updating unit for calculating the reference filter coefficient C2 _(n) by adaptive control so as to reduce the virtual error signal e2 _(n) ;
The active vibration noise suppression device according to claim 1, comprising: The adjustment coefficient includes an amplitude component,
The active vibration noise suppression device according to claim 1, wherein the amplitude component of the adjustment coefficient is set to a different value according to a frequency of vibration of the vibration source. The control signal u1 _(n) is a signal obtained by combining a plurality of order components,
The amplitude component of the adjustment coefficient corresponds to the order of the control signal u1 _(n) ,
The amplitude component of the adjustment coefficient has a value that varies depending on the frequency of vibration of the vibration source, and is set to a value that varies depending on the order of the control signal u1 _(n). An active vibration noise suppression device according to claim 1. The adjustment coefficient further comprises a phase component,
The active vibration noise suppression device according to claim 3, wherein the phase component of the adjustment coefficient is set to a different value according to a frequency of vibration of the vibration source. The adjustment coefficient further comprises a phase component,
The phase component of the adjustment factor corresponds to the order of the control signal u1 _(n) ,
5. The phase component of the adjustment coefficient has a value that varies depending on a frequency of vibration of the vibration source and is set to a value that varies depending on the order of the control signal u _< b _> 1 _(n). An active vibration noise suppression device according to claim 1.   The amplitude component of the adjustment coefficient is set on the basis of a level of vibration or noise caused by the vibration source at the evaluation point and a set target level. Active vibration noise suppression device.   The active vibration noise suppression device according to claim 7, wherein the target level is set to a different value according to a vibration frequency of the vibration source. The control device includes a storage unit that stores a plurality of the adjustment coefficients corresponding to a plurality of evaluation points,
The real filter coefficient calculation unit uses the adjustment coefficient selected from the plurality of adjustment coefficients stored in the storage unit according to the target evaluation score. The active vibration noise suppression device according to claim 1.

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