JP2021026323A - Control unit and damping apparatus comprising the same - Google Patents

Abstract

To obtain a control unit capable of suppressing the lowering of damping effects of the control unit due to an update delay of frequency information.SOLUTION: A control unit 10 generates a command signal for drive-controlling a vibration applying unit based on information about vibrations or sound having periodicity and frequency information thereof. The control unit 10 comprises a frequency-information acquiring section 11 that acquires vibration-frequency information from an ECU and a phase correcting section 13 that corrects a recognition frequency or phase in a manner eliminating a phase difference between the recognition frequency and the frequency information used for generating the command signal.SELECTED DRAWING: Figure 2

Description

The present invention relates to a control device that generates a command signal for driving and controlling a vibrating unit based on information on vibration or sound having periodicity and their frequency information, and a vibration damping device including the same.

A vibration damping device that reduces vibration and noise by driving and controlling the vibration damping unit is known. As such a vibration damping device, for example, Patent Document 1 states that the speed at which the adaptive filter converges according to the vibration remaining as an offset error between the vibration and the canceling vibration generated by the vibration damping means at the position to be vibration controlled. A vibration damping device that changes the convergence coefficient so as to speed up is disclosed. With this vibration damping device, it is possible to improve the responsiveness of the vibration damping control even when it is necessary to significantly change the canceling vibration.

Further, for example, Patent Document 2 includes an active vibration in which the phase filter coefficient can be converged at an early stage by including a value obtained by multiplying the phase filter coefficient by a value larger than 1 as a phase component in the sinusoidal control signal. A noise suppression device is disclosed. In this active vibration noise suppression device, vibration or noise can be converged at an early stage.

Further, for example, in Patent Document 3, active noise that actively reduces noise at a control point by interfering with a control target sound having periodicity generated from a noise source such as an engine. A reduction device is disclosed. In this active noise reduction device, a step size parameter that controls the update amount of the filter coefficient of the adaptive filter is appropriately set for each order component of the sound to be controlled, and the filter coefficient is set using the set step size parameter. It is calculated. As a result, even when the engine speed changes suddenly as in acceleration / deceleration, followability is ensured for each order component. Therefore, a stable reduction effect can be obtained for all order components (particularly higher frequency components) of the controlled sound caused by engine vibration.

Japanese Unexamined Patent Publication No. 2011-112164 JP-A-2017-97021 Japanese Unexamined Patent Publication No. 2013-11697

In the configuration of Patent Document 1 described above, the control device of the vibration damping device determines the vibration to be vibrated by the vibration means by using the vibration frequency information related to the vibration frequency and the error vibration detected by the vibration detection unit. .. At this time, the control device recognizes the vibration frequency used for the vibration suppression control based on the input vibration frequency information, and determines the vibration vibration by the vibration means according to the recognized vibration frequency. In the following, the vibration frequency recognized by the control device for use in vibration damping control will be referred to as a recognition frequency.

For example, when the vibration suppression target is a vehicle, the vibration frequency information includes engine rotation speed information obtained by controller area network communication (hereinafter, CAN communication) with the vehicle engine control unit (hereinafter, ECU), and vehicle ECU. It includes a pulse signal output in synchronization with the ignition timing of the engine, an impulse signal used when igniting the spark plug of the engine, and the like.

When the engine speed information is used as the vibration frequency information, the vibration frequency information input to the control device is updated every communication cycle of CAN communication. When the pulse signal or the impulse signal is used as the vibration frequency information, the signal of the vibration frequency information is input to the control device according to the vibration frequency. In the control device, the recognition frequency is updated according to the input of the vibration frequency information.

By the way, when the engine speed changes abruptly, an update delay of the recognition frequency in the control device occurs with respect to the actual vibration frequency, so that an error occurs between the actual vibration frequency and the recognition frequency. This error increases as the amount of change in engine speed increases.

Since the phase shift occurs due to the error between the actual vibration frequency and the recognition frequency as described above, an error occurs between the vibration vibration determined by the control device and the vibration vibration actually required. As a result, the damping effect is reduced.

Therefore, when the vibration changes suddenly, such as when the engine speed changes suddenly, the control due to the update delay of the frequency information acquired by the control device in order to suppress the decrease in the vibration damping effect. It is necessary to suppress the update delay of the recognition frequency of the device.

An object of the present invention is to obtain a configuration of a control device capable of suppressing a decrease in the damping effect of the control device due to a delay in updating frequency information.

The control device according to the embodiment of the present invention is a control device that generates a command signal for driving and controlling a vibrating unit based on information on vibration or sound having periodicity and frequency information thereof. This control device corrects the recognition frequency or phase so as to eliminate the phase difference between the frequency information acquisition unit that acquires the frequency information from the outside and the recognition frequency and the frequency information used when generating the command signal. The correction unit is provided (first configuration).

With this configuration, the deviation of the recognition frequency of the control device can be corrected for the frequency information acquired by the control device from the outside, so that the update delay of the recognition frequency of the control device due to the update delay of the frequency information in the control device can be suppressed. Can be done.

Therefore, even when the vibration changes suddenly, it is possible to suppress a decrease in the vibration damping effect.

The recognition frequency is a frequency recognized by the control device and is used for controlling the control device.

In the first configuration, the correction unit estimates the recognition frequency after a predetermined time using the recognition frequency, and sets the estimation result to a new recognition frequency (second configuration). As a result, the recognition frequency of the control device can be estimated and set even when the frequency information is not input to the control device. Therefore, even when the vibration changes suddenly, it is possible to suppress a decrease in the vibration damping effect.

In the first configuration, the correction unit uses a phase correction unit that corrects the phase so as to eliminate the phase difference between the frequency information and the recognition frequency, and a plurality of recognition frequencies closest to the present for a predetermined time. Correction switching between a recognition frequency estimation unit that estimates the recognition frequency later and sets the estimation result to a new recognition frequency, and switching between phase correction by the phase correction unit and recognition frequency estimation by the recognition frequency estimation unit. And has (third configuration).

As a result, the method of correcting the phase and the method of estimating the recognition frequency of the control device can be switched by the correction switching unit according to the input status of the frequency information to the control device and the like. Therefore, even when the vibration changes abruptly, it is possible to suppress a decrease in the vibration damping effect by switching between the two correction methods by the correction switching unit.

In the third configuration, the correction switching unit is used when the frequency information acquisition unit acquires the frequency information within the first predetermined period from the time when the frequency information acquisition unit last acquired the frequency information, or when the frequency information acquisition unit acquires the frequency information at a predetermined timing. When the first predetermined period elapses in a state where the frequency information cannot be acquired, the phase correction unit is made to correct the phase, while the frequency information acquisition unit cannot acquire the frequency information. When the predetermined period or more has passed, the recognition frequency estimation unit is made to estimate the recognition frequency (fourth configuration).

As a result, the recognition frequency of the control device can be updated regardless of whether the control device has acquired the frequency information or not. As a result, it is possible to prevent the damping effect from being significantly reduced depending on whether or not the control device acquires frequency information.

The vibration damping device according to the embodiment of the present invention is any of claims 1 to 4, which generates a vibration damping unit that generates vibration with respect to the vibration damping object and a command signal for controlling the drive of the vibration damping unit. The control device according to any one of them is provided (fifth configuration). It is possible to realize a vibration damping device that can suppress a decrease in the damping effect even when the vibration changes suddenly.

According to the control device according to the embodiment of the present invention, the control device has a frequency information acquisition unit that acquires frequency information from the outside, and a recognition frequency used when generating the command signal and the frequency information. A correction unit for correcting the recognition frequency or phase is provided so as to eliminate the phase difference. As a result, the deviation of the recognition frequency can be corrected for the frequency information acquired by the control device from the outside, so that the update delay of the recognition frequency of the control device due to the update delay of the frequency information in the control device can be suppressed. Therefore, even when the vibration changes suddenly, it is possible to suppress a decrease in the vibration damping effect.

FIG. 1 is a functional block diagram showing a schematic configuration of a vibration damping device including a control device according to the first embodiment. FIG. 2 is a control block diagram showing a schematic configuration of the control device according to the first embodiment. FIG. 3 is a diagram showing a phase difference caused by an error between the recognition frequency and the vibration frequency, and explaining that the phase difference is eliminated by the control device according to the first embodiment. FIG. 4 is a diagram showing a vibration value when vibration damping control is performed using a control device that does not include the phase correction unit of the first embodiment. FIG. 5 is a diagram showing a vibration value when vibration damping control is performed using the control device according to the first embodiment. FIG. 6 is a diagram corresponding to FIG. 2 showing a schematic configuration of the control device according to the second embodiment. FIG. 7 is a diagram schematically showing how the frequency estimation unit of the second embodiment estimates the recognition frequency of the control device. FIG. 8 is a diagram corresponding to FIG. 2 showing a schematic configuration of the control device according to the third embodiment. FIG. 9 is a flow for explaining the operation of vibration damping control by the control device according to the third embodiment. FIG. 10 is a diagram showing an example of the operation of vibration damping control by the control device according to the third embodiment. FIG. 11 is a diagram corresponding to FIG. 2 showing a schematic configuration of the control device according to the fourth embodiment. FIG. 12 is a diagram for explaining the phase difference obtained by the phase correction unit of the fourth embodiment. FIG. 13 is a diagram corresponding to FIG. 2 showing a schematic configuration of the control device according to the fifth embodiment. FIG. 14 is a diagram schematically showing how the interval of the pulse signal is divided by the phase division ratio and the amount of change in the recognition frequency is obtained for each time elapsed according to the division ratio.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are designated by the same reference numerals and the description thereof will not be repeated.

<Embodiment 1>
(overall structure)
FIG. 1 is a functional block diagram showing a schematic configuration of a vibration damping device 1 including a control device 10 according to the first embodiment of the present invention. The vibration damping device 1 is a device mounted on a vehicle such as an automobile to suppress vibration generated by a vibration source 2 of the vehicle. The vibration damping device 1 includes a vibration detecting unit 5, a vibration damping unit 6, and a control device 10.

When the vibration damping device 1 is mounted on the vehicle, the vibration detecting unit 5 is attached to the vehicle body frame 4 (vibration damping object) under the seat 3 of the vehicle, and the vibration damping unit 6 is the vibration source. It is attached to the vehicle body frame 4 at a position different from that of the vibration detection unit 5 and 2. In the present embodiment, the vibration exciting unit 6 is located on the side opposite to the vibration source 2 with the vibration detecting unit 5 in the front-rear direction of the vehicle. The front-rear direction of the vehicle means the front-rear direction as seen from the driver seated in the vehicle.

An auxiliary mass 6a such as a weight for generating a vibration force by the vibration of the vibration unit 6 is arranged on the vibration unit 6. Reference numeral 2a in FIG. 1 is a mount for elastically supporting the vibration source 2 with respect to the vehicle body frame 4.

The vibration source 2 is, for example, an engine. Therefore, the vibration generated by the vibration source 2 is a periodic vibration. The vibration generated by the engine, which is the vibration source 2, is transmitted to the seat 3 via the mount 2a and the vehicle body frame 4. The vibration source 2 is driven and controlled by the ECU 50. The signal output from the ECU 50 is transmitted to another device by CAN communication. Since the configurations of the engine and the ECU 50 are the same as the conventional configurations, detailed description thereof will be omitted.

The exciting portion 6 is, for example, a linear actuator that reciprocates so as to vibrate the auxiliary mass 6a. The vibration detection unit 5 detects the vibration of the portion of the vehicle body frame 4 located under the seat 3. The vibration detection unit 5 is, for example, a vibration sensor that detects vibration. Since the configurations of the linear actuator and the vibration sensor are the same as those of the conventional configuration, detailed description thereof will be omitted.

The vibration detected by the vibration detection unit 5 is input to the control device 10. Vibration frequency information (frequency information) is also input to the control device 10 from the ECU 50 (external) by CAN communication.

As will be described later, the control device 10 generates a command signal for vibration vibration generated by the vibration unit 6 based on the vibration frequency information transmitted from the ECU 50 by CAN communication and the vibration detected by the vibration detection unit 5. Then, the command signal is output to the vibrating unit 6. The detailed configuration of the control device 10 will be described later.

The vibration source may be a component other than the engine as long as it is a component that generates vibration. Further, the vibrating unit may be a vibration generating device other than the linear actuator as long as it is a device capable of generating vibration. It is not necessary to provide an auxiliary mass in the vibrating portion. The vibration detection unit may be a sensor other than the vibration sensor as long as it can detect the vibration of the vehicle body frame 4.

(Control device)
FIG. 2 is a functional block diagram showing a schematic configuration of the control device 10. The control device 10 can realize a control method adopting a DXHS (Delayed-x Harmonics Synthesizer) algorithm among adaptive filter controls. Specifically, the control device 10 uses the DXHS algorithm based on the vibration frequency information input from the ECU 50 by CAN communication and the vibration detected by the vibration detection unit 5, and vibrates with respect to the vibration unit 6. Command signal is generated.

The control device 10 includes a vibration frequency information acquisition unit 11 (frequency information acquisition unit), a vibration information acquisition unit 12, an adaptive filter control unit 20, and a phase correction unit 13 (correction unit).

The vibration frequency information acquisition unit 11 acquires vibration frequency information from the ECU 50 by CAN communication. This vibration frequency information is acquired by the vibration frequency information acquisition unit 11 in the communication cycle t of CAN communication. The vibration information acquisition unit 12 acquires vibration information related to the vibration detected by the vibration detection unit 5. This vibration information is information related to vibration having periodicity.

The adaptive filter control unit 20 generates a vibration command signal from the vibration frequency information and the vibration information by using the DXHS algorithm.

The adaptive filter control unit 20 includes a phase calculation unit 21, a BPF processing unit 22, a convergence coefficient controller 23, an adaptive vector update algorithm block 24, a reverse transmission characteristic controller 25, and an adaptive signal update algorithm block 26. Have.

The phase calculation unit 21 calculates the phase θ (n) by the equation (1) using the vibration frequency F acquired by the vibration frequency information acquisition unit 11 and the control cycle Ts of the control device 10. The phase calculation unit 21 calculates the phase θ (n) for each control cycle of the control device 10.
θ (n) = θ (n-1) + 360 × F × Ts (1)

Here, F is the vibration frequency, and θ (n-1) is the phase in the previous control cycle.

The phase θ (n) calculated by the phase calculation unit 21 is added to the phase correction value θadd (n) calculated by the phase correction unit 13 described later, and then the adaptive vector update algorithm block 24 and the adaptive signal update described later are performed. It is input to the algorithm block 26.

The BPF processing unit 22 uses the vibration frequency F acquired by the vibration frequency information acquisition unit 11 to process the vibration information acquired by the vibration information acquisition unit 12 with a BPF (Band-Pass Filter). As a result, noise can be removed from the vibration information.

The convergence coefficient controller 23 obtains and outputs a value that reflects the convergence coefficient in the vibration information processed by the BPF processing unit 22.

The adaptive vector update algorithm block 24 calculates the adaptive filter coefficients Re and Im using the phase θ (n) calculated by the phase calculation unit 21 and the vibration information in which the convergence coefficient is reflected by the convergence coefficient controller 23. The adaptive filter coefficients Re and Im calculated in the adaptive vector update algorithm block 24 are input to the adaptive signal update algorithm block 26.

The reverse transmission characteristic controller 25 obtains and outputs a value that reflects the reverse transmission characteristic in the vibration frequency information acquired by the vibration frequency information acquisition unit 11.

The adaptive signal update algorithm block 26 has the phase θ (n) calculated by the phase calculation unit 21, the adaptive filter coefficients Re and Im calculated by the adaptive vector update algorithm block 24, and the reverse transmission characteristic controller 25. A vibration frequency information that reflects the characteristics is used to generate a vibration command signal.

The phase correction unit 13 corrects the phase θ by using the vibration frequency information acquired by the vibration frequency information acquisition unit 11.

Here, when the vibration frequency changes linearly due to the fluctuation of the engine speed, that is, as shown in FIG. 3A, the vibration frequency changes from the state of F (n-1) at time 0 to F at time Ta. When the state changes to (n), the recognition frequency recognized by the control device 10 is held at F (n-1) until it is updated at time Ta. The phase difference θadd (n) generated in this case is expressed by Eq. (2).
θadd (n) = (F (n) -F (n-1)) x (a x Ta ² + b x Ta) (2)

In the above equation, a and b are coefficients determined by the control cycle and the like.

In the configuration having the adaptive vector update algorithm block 24 as in the present embodiment, when the phase difference θadd (n) as described above occurs, as shown in FIG. 3B, the actual vibration frequency and the recognition frequency become Since the phase difference is accumulated, the phase shift between the two gradually increases.

On the other hand, the phase correction unit 13 compensates the phase difference θadd (n) for the phase θ (n-1) in the immediately preceding control cycle for each communication cycle of CAN communication (Ta in the above example). To do. That is, the phase can be corrected by the equation (3). As a result, as shown in FIG. 3C, the phase difference caused by the recognition frequency being held during Ta can be cleared.
θ (n) = θ (n-1) + θadd (n) (3)

As in the present embodiment, the phase correction unit 13 adapts by compensating for the phase θ by using the phase difference θadd (n) obtained by the above equation (2) for each communication cycle t of CAN communication. The phase θ used in the vector update algorithm block 24 is corrected for each communication cycle t of CAN communication. As a result, the adaptive filter coefficients Re and Im obtained in the adaptive vector update algorithm block 24 are also updated, so that even if the engine speed changes abruptly, the decrease in the damping effect can be suppressed.

FIG. 4 shows a vibration value when vibration damping control is performed using a control device that does not include the phase correction unit 13 of the present embodiment. FIG. 5 shows a vibration value when vibration damping control is performed using the control device 10 of the present embodiment. In addition, in FIG. 4 and FIG. 5, respectively, as an example of the vibration value, an example of the change of the vibration value detected by the vibration detection unit 5 when the vibration frequency of the engine is rapidly increased is shown.

As shown in FIG. 4, when the phase correction unit 13 of the present embodiment does not correct the phase of the recognition frequency of the control device, if the vibration frequency is rapidly increased, the vibration value also increases and the vibration value decreases. It takes time. That is, in the case of such a control device, the damping effect is not so much obtained.

On the other hand, as shown in FIG. 5, when vibration damping control is performed using the control device 10 having the phase correction unit 13 of the present embodiment, the vibration value does not increase even if the vibration frequency is rapidly increased. .. Therefore, in the control device 10 of the present embodiment, a sufficient vibration damping effect can be obtained even when the vibration frequency is rapidly increased.

<Embodiment 2>
FIG. 6 shows a schematic configuration of the control device 110 according to the second embodiment with functional blocks. The control device 110 according to this embodiment corrects the recognition frequency by estimating the recognition frequency after a predetermined time by using the most recently updated recognition frequency instead of correcting the phase. It is different from the configuration of 1. In the following, the same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted, and only the parts different from the first embodiment will be described. The most recently updated recognition frequency means a plurality of recognition frequencies updated at the time closest to the present.

The control device 110 includes a vibration frequency information acquisition unit 11, a vibration information acquisition unit 12, an adaptive filter control unit 20, and a frequency estimation unit 113 (correction unit).

The frequency estimation unit 113 estimates the recognition frequency after a predetermined time using the most recently updated recognition frequency, and sets the estimated frequency as the recognition frequency of the control device 210. For example, the frequency estimation unit 113 uses the two most recent recognition frequencies F (n-1) and F (n) and their holding time Ta, and uses Eq. (4) to determine the recognition frequency after a predetermined time Tb. The amount of change Fadd is calculated.
Fadd = (F (n) -F (n-1)) / Ta × Tb (4)

The frequency estimation unit 113 estimates and outputs the recognition frequency F (n + 1) after a predetermined time Tb by the equation (5) using the change amount Fadd of the recognition frequency obtained by the equation (4). As a result, the recognition frequency estimated by the frequency estimation unit 113 is set to the recognition frequency of the control device 110.
F (n + 1) = F (n) + Fadd (5)

FIG. 7 is a diagram schematically showing how the frequency estimation unit 113 of the present embodiment estimates the recognition frequency of the control device 110. In the example shown in FIG. 7, the frequency estimation unit 113 estimates the recognition frequency by using the two most recent recognition frequencies F (n-1) and F (n) and their holding time Ta. The recognition frequency (estimated recognition frequency) estimated by the frequency estimation unit 113 is shown by a white circle in FIG.

As a result, the recognition frequency F (n + 1) can be updated every predetermined time Tb, so that the phase calculated by the control device 110 is also updated every predetermined time Tb. Therefore, since the adaptive filter coefficients Re and Im obtained in the adaptive vector update algorithm block 24 are also updated, it is possible to suppress a decrease in the damping effect even when the engine speed changes abruptly.

In the configuration of the present embodiment, even when the control device 110 does not periodically obtain vibration frequency information due to, for example, CAN communication, the recognition frequency of the control device 110 is corrected so that the recognition frequency is derived from the actual vibration frequency. It is possible to prevent divergence.

<Embodiment 3>
FIG. 8 shows a schematic configuration of the control device 210 according to the third embodiment with functional blocks. The control device 210 according to the embodiment 1 and 2 in the first and second embodiments can correct the phase in the first embodiment and estimate the recognition frequency in the second embodiment when the vibration frequency information cannot be obtained. It is different from the configuration. In the following, the same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted, and only the parts different from the first embodiment will be described.

The control device 210 includes a vibration frequency information acquisition unit 11, a vibration information acquisition unit 12, an adaptive filter control unit 20, and a correction unit 213.

The correction unit 213 corrects the phase θ using the vibration frequency information acquired by the vibration frequency information acquisition unit 11 according to the presence / absence of acquisition of the vibration frequency information and the elapsed time from the latest vibration frequency information acquisition, and the latest. It switches between the estimation of the recognition frequency after a predetermined time using the updated recognition frequency. The acquisition of the latest vibration frequency information means the acquisition of the vibration frequency information at the time closest to the present.

The correction unit 213 includes a correction switching unit 231, a phase correction unit 232, and a frequency estimation unit 233.

The phase correction unit 232 corrects the phase θ by using the vibration frequency information acquired by the vibration frequency information acquisition unit 11. That is, since the phase correction unit 232 has the same configuration as the phase correction unit 232 of the first embodiment, detailed description thereof will be omitted.

The frequency estimation unit 233 estimates the recognition frequency after a predetermined time using the most recently updated recognition frequency, and sets the estimated frequency as the recognition frequency of the control device 210. That is, since the frequency estimation unit 233 has the same configuration as the frequency estimation unit 233 of the second embodiment, detailed description thereof will be omitted.

The correction switching unit 231 determines whether or not the vibration frequency information acquisition unit 11 has acquired the vibration frequency information from the outside, and the phase correction unit 232 is determined according to the determination result and the elapsed time from the latest vibration frequency information acquisition. The correction of the phase θ by the above and the estimation of the recognition frequency by the frequency estimation unit 233 are switched.

Specifically, in the correction switching unit 231, when the vibration frequency information acquisition unit 11 acquires the vibration frequency information from the ECU 50 and the elapsed time from the latest vibration frequency information acquisition is within the first predetermined period, and the vibration frequency. When the elapsed time reaches the first predetermined period without acquiring the vibration frequency information from the ECU 50, the information acquisition unit 11 causes the phase correction unit 232 to correct the phase θ. The first predetermined period is a period longer than the communication cycle of CAN communication.

Further, when the vibration frequency information acquisition unit 11 does not acquire the vibration frequency information from the ECU 50 and the elapsed time exceeds the first predetermined period, the correction switching unit 231 responds to the update cycle of the recognition frequency. Have the frequency estimation unit 233 estimate the recognition frequency.

(Vibration control by control device)
Next, the vibration damping control by the control device 210 according to the present embodiment will be described with reference to the flow shown in FIG. FIG. 9 is a flow for explaining the operation of vibration damping control by the control device 210. Further, in the following description of the flow, an operation example shown in FIG. 10 will be referred to. The white arrow in FIG. 10 indicates the timing at which the vibration frequency information acquisition unit 11 acquires the vibration frequency information from the ECU 50 via CAN communication.

When the flow shown in FIG. 9 starts (starts), first, in step S1, the phase correction value θadd and the change amount Fadd of the recognition frequency are set to zero. In step S2, the control cycle Ts is counted by adding 1 to i for each control cycle Ts of the control device 210.

In the following step S3, the correction switching unit 231 determines whether or not the vibration frequency information acquisition unit 11 has acquired the vibration frequency information via CAN communication. When the correction switching unit 231 determines that the vibration frequency information acquisition unit 11 has acquired the vibration frequency information (YES in step S3), the process proceeds to step S4, and as shown in FIG. 10, the control device 210 The recognition frequency of (I in FIG. 10) is updated.

After that, in step S5, the correction switching unit 231 determines whether or not the first predetermined period has elapsed after counting the control cycle Ts. When the first predetermined period has not elapsed (YES), as shown in I of FIG. 10, the phase correction unit 232 calculates θadd (n) by the equation (2) as in the first embodiment. (Step S6), the correction switching unit 231 resets the counter that counts the control cycle Ts (step S7). In addition, Ta in the equation (2) is obtained by Ts × i. In step S5, even when the first predetermined period has elapsed since the control cycle Ts was counted (NO), the correction switching unit 231 resets the counter of the control cycle Ts (step S7). At this time, since the recognition frequency is estimated by Fadd in steps S10 to S15 described later, θadd (n) is not calculated (“no correction” in FIG. 10). After that, the process proceeds to step S16 and subsequent steps described later, and the adaptive filter control unit 20 calculates the phase θ and then performs the adaptive filter control calculation.

If it is determined by the correction switching unit 231 in step S3 that the vibration frequency information acquisition unit 11 has not acquired the vibration frequency information (NO), the process proceeds to step S8, and the correction switching unit 231 determines. It is determined whether or not the state in which the vibration frequency information is not acquired via CAN communication continues for the first predetermined period. That is, in step S8, the correction switching unit 231 determines whether or not the period determined by the control cycle Ts and the number of counters i thereof is the first predetermined period. The case where the recognition frequency of the control device 210 is not updated at a predetermined update timing without acquiring the vibration frequency information is called update omission, and the period during which the update omission state continues is the non-update period. That is.

If it is determined in step S8 that the state in which the vibration frequency information has not been acquired via CAN communication continues for the first predetermined period (YES), the process proceeds to step S9, and the process proceeds to II in FIG. As shown, the phase correction unit 232 calculates θadd (n) by the equation (2) as in the first embodiment. After that, the process proceeds to step S16 and subsequent steps described later, and the adaptive filter control unit 20 calculates the phase θ and then performs the adaptive filter control calculation.

In step S8, if it is determined that the time during which the vibration frequency information is not acquired via CAN communication is not the first predetermined period (NO), the process proceeds to step S10 to switch the correction. Unit 231 determines whether or not the time during which the vibration frequency information is not acquired via CAN communication continues is longer than the first predetermined period.

In step S10, when it is determined that the time during which the vibration frequency information is not acquired via CAN communication continues is longer than the first predetermined period (YES), the correction switching unit 231 determines. The control cycle Ts is counted by adding 1 to j for each control cycle Ts (step S11). After that, in step S12, the correction switching unit 231 determines whether or not the second predetermined period has elapsed since the count was started in step S11. This second predetermined period is the update cycle of the recognition frequency in the control device 210.

In step S12, if it is determined that the second predetermined period has not elapsed since the count was started in step S11 (NO), the process proceeds to step S13, and the frequency estimation unit 233 performs the second embodiment. Similarly, the frequency is calculated by the equation (4). After that, the process proceeds to step S14, and the correction switching unit 231 resets j for counting the control cycle Ts. In the following step S15, the control device 210 corrects and updates the recognition frequency. The recognition frequency in this case is the portion surrounded by the alternate long and short dash line in FIG. Then, in steps S16 and subsequent steps described later, the adaptive filter control unit 20 calculates the phase θ and then performs the adaptive filter control calculation.

When NO is determined in step S10 (when the time during which the vibration frequency information is not acquired via CAN communication continues is equal to or less than the first predetermined period), and YES is determined in step S12. Even when the frequency is increased (when the second predetermined period has elapsed since the count was started in step S11), the adaptive filter control unit 20 calculates the phase θ after proceeding to step S16 or later described later, and then the adaptive filter. Perform control calculations.

In step S16, the phase calculation unit 21 calculates the phase θ using the recognition frequency. In the following step S17, the adaptive filter control unit 20 corrects the phase by adding θadd (n) obtained in step S6 or S9 to the phase θ. After that, in step S18, the adaptive filter control unit 20 performs an operation of adaptive filter control and generates a command signal of additive vibration to the vibration unit 6. Then, this flow ends (end).

According to the configuration of the present embodiment, for example, when the vibration frequency information acquisition unit 11 periodically acquires the vibration frequency information via CAN communication, the phase difference can be compensated by the configuration of the first embodiment, while vibration. When the frequency information acquisition unit 11 cannot acquire the vibration frequency information, the recognition frequency can be estimated and updated according to the configuration of the second embodiment until the vibration frequency information is acquired.

This makes it possible to correct the recognition frequency of the control device 110 and prevent the recognition frequency from deviating from the actual vibration frequency even when the vibration frequency information cannot be obtained periodically by, for example, CAN communication. Therefore, according to the configuration of the present embodiment, the adaptive filter coefficients Re and Im obtained in the adaptive vector update algorithm block 24 can be updated more reliably. Therefore, even when the engine speed changes suddenly, the decrease in the damping effect can be suppressed more reliably.

<Embodiment 4>
FIG. 11 shows a schematic configuration of the control device 310 according to the fourth embodiment with functional blocks. The control device 310 according to this embodiment is different from the configuration of the first embodiment in that a pulse signal is input and the phase is corrected according to the pulse signal. In the following, the same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted, and only the parts different from the first embodiment will be described.

The control device 310 includes a pulse signal acquisition unit 311, a vibration information acquisition unit 12, an adaptive filter control unit 20, and a phase correction unit 313.

The pulse signal acquisition unit 311 acquires, for example, a pulse signal output from the ECU 50. This pulse signal is a signal for driving the engine. Therefore, in general, the pulse signal is synchronized with the period of vibration generated in the engine. When the control device 310 acquires the pulse signal by the pulse signal acquisition unit 311, the control device 310 calculates the recognition frequency by the equation (6).
F (n) = 1 / Tc (n) (6)

Here, Tc (n) is an interval at which the pulse signal acquisition unit 311 detects the pulse signal.

The control device 310 holds the calculated recognition frequency until the pulse signal acquisition unit 311 acquires the next pulse signal.

As described above, the phase correction unit 313 determines the phase difference θadd (n) caused by the error between the recognition frequency held until the pulse signal acquisition unit 311 acquires the next pulse signal and the actual vibration frequency (7). Obtained by the formula.
θadd (n) = (1-F (n) / F (n-1)) × 360 × k (7)

Here, k is a coefficient proportional to the number of pulses per vibration cycle.

FIG. 12 is a diagram for explaining the phase difference θadd obtained by the phase correction unit 313. As shown in FIG. 12, when the pulse signal acquisition unit 311 acquires the next pulse signal, it is held at the recognition frequency updated at that time, so that the phase of the actual vibration frequency and the recognition recognized by the control device are recognized. An error (phase difference θadd) occurs in the phase of the frequency (the phase recognized by the control device in FIG. 12). The phase correction unit 313 obtains this phase difference θadd using the above equation (7).

The phase correction unit 313 compensates for the phase difference θadd (n) with respect to the immediately preceding phase θ (n-1) for each acquisition cycle of the pulse signal. That is, the control device 310 can correct the phase by the above-described equation (3) using the phase difference θadd (n) obtained as described above.

By compensating the phase θ by using, for example, the pulse signal output from the ECU 50 as in the present embodiment, the phase θ used in the adaptive vector update algorithm block 24 is phase-corrected for each pulse signal reception timing. To. As a result, the adaptive filter coefficients Re and Im obtained in the adaptive vector update algorithm block 24 are also updated, so that even if the engine speed changes abruptly, the decrease in the damping effect can be suppressed.

<Embodiment 5>
FIG. 13 shows a schematic configuration of the control device 410 according to the fifth embodiment with functional blocks. The control device 410 according to this embodiment corrects the recognition frequency by estimating the recognition frequency after a predetermined time by using the most recently updated recognition frequency instead of correcting the phase. It is different from the configuration of 4. In the following, the same components as those in the fourth embodiment are designated by the same reference numerals and the description thereof will be omitted, and only the parts different from the fourth embodiment will be described.

The control device 410 includes a pulse signal acquisition unit 311, a vibration information acquisition unit 12, an adaptive filter control unit 20, and a frequency estimation unit 413.

The frequency estimation unit 413 estimates the recognition frequency after a predetermined time using the most recently updated recognition frequency, and sets the estimated frequency as the recognition frequency of the control device 410. For example, the frequency estimation unit 413 uses the two most recent recognition frequencies F (n-1) and F (n), and each time the time corresponding to the phase division ratio elapses at the interval Tc of the pulse signal. Generates a pseudo pulse signal. That is, the frequency estimation unit 413 obtains the change amount Fadd of the recognition frequency every time the time corresponding to the phase division ratio elapses according to the equation (8).
Fadd = (F (n) -F (n-1)) / m (8)

Here, m is the phase division ratio.

FIG. 14 schematically shows how the interval Tc of the pulse signal is divided by the phase division ratio m, and the change amount Fadd of the recognition frequency is obtained every time the time corresponding to the division ratio m elapses. In the example shown in FIG. 14, the division ratio is m = 4. Therefore, the frequency estimation unit 413 obtains the recognition frequency change amount Fadd every time 1/4 of the time (Tc / 4) elapses with respect to the pulse signal interval Tc. The above-mentioned division ratio is an example, and the division ratio may be a value other than 4.

The pulse signal generation for each division ratio as described above is particularly effective when the update cycle of the recognition frequency of the control device 410 is larger than the interval at which the pulse signal is input.

Using the recognition frequency change amount Fadd thus obtained, the recognition frequency can be estimated when the time corresponding to the phase division ratio elapses by the above-mentioned equation (5). Then, the control device 410 uses this estimated recognition frequency as the recognition frequency of the control device 410.

As a result, the phase of the control device 410 is also updated every time the time corresponding to the phase division ratio elapses. Therefore, since the adaptive filter coefficients Re and Im obtained in the adaptive vector update algorithm block 24 are also updated, it is possible to suppress a decrease in the damping effect even when the engine speed changes abruptly.

(Other embodiments)
Although the embodiments of the present invention have been described above, the above-described embodiments are merely examples for carrying out the present invention. Therefore, the embodiment is not limited to the above-described embodiment, and the above-described embodiment can be appropriately modified and implemented within a range that does not deviate from the gist thereof.

In each of the above embodiments, the recognition frequencies or phases of the control devices 10, 110, 210 are corrected by using the vibration frequency information transmitted from the ECU 50 via CAN communication. Further, the recognition frequency or phase of the control devices 310 and 410 is corrected by using the pulse signal output from the ECU 50. However, the recognition frequency or phase of the control device may be corrected by using the impulse signal accompanying the ignition of the engine.

In each of the above embodiments, the control devices 10, 110, 210, 310, 410 are used for vibration damping control that suppresses vibration generated in the engine of the vehicle. However, the control device may be used when suppressing periodic sound. That is, the control device of each of the above-described embodiments can be applied when it is necessary to change the recognition frequency of the control device according to a change in frequency such as periodic vibration or periodic sound.

In the first embodiment, the phase correction unit 13 compensates for the phase difference θadd (n) with respect to the immediately preceding phase θ (n-1) for each communication cycle of CAN communication (Ta in the above example). .. However, the phase correction unit may correct the phase so as to have a predetermined time constant. As a result, it is possible to prevent the recognition frequency of the control device from changing significantly.

In the second embodiment, the frequency estimation unit 113 uses the two most recent recognition frequencies F (n-1) and F (n) and their holding time Ta according to the equation (4) after a predetermined time Tb. The amount of change in the recognition frequency of Fadd is calculated. However, the frequency estimation unit may calculate the change amount Fadd of the recognition frequency by using the latest three or more recognition frequencies. Further, the frequency estimation unit may estimate the change amount of the recognition frequency by using the PLL control instead of estimating the change amount of the recognition frequency by linear approximation.

In the fourth embodiment, the phase correction unit 313 compensates for the phase difference θadd (n) with respect to the immediately preceding phase θ (n-1) for each acquisition cycle of the pulse signal. However, the phase correction unit may correct the phase so as to have a predetermined time constant. As a result, it is possible to prevent the recognition frequency of the control device from changing significantly.

In the fifth embodiment, the detection timing of the pulse signal is estimated to generate a pseudo pulse signal, and the recognition frequency of the control device 410 is corrected. However, the phase difference between the vibration frequency and the recognition frequency may be reduced by reducing the interval between the pulse signals. That is, since the pulse signal is synchronized with the vibration cycle, the interval between the pulse signals is large in the region where the vibration frequency is low, and the interval between the pulse signals is small in the region where the vibration frequency is high. Therefore, the phase difference generated during the period in which the recognition frequency of the control device is maintained changes by a quadratic function as in the above-mentioned equation (2). Therefore, in the region where the vibration frequency is low, the phase difference becomes large, and when the engine speed changes suddenly in this low frequency region, the vibration damping effect is greatly reduced. On the other hand, as described above, by reducing the interval between the pulse signals, the phase difference can be reduced and the decrease in the damping effect can be suppressed.

In the fifth embodiment, the frequency estimation unit 413 uses the two most recent recognition frequencies F (n-1) and F (n) to generate a pseudo pulse for each phase division ratio at the interval of the pulse signal. Generate a signal. However, the frequency estimation unit may generate a pseudo pulse signal for each phase division ratio at the interval of the pulse signal by using the latest three or more recognition frequencies. As the interval between the pulse signals in this case, for example, the average of each pulse signal may be used. Further, the frequency estimation unit may obtain the amount of change in the recognition frequency by using the PLL control.

In the fifth embodiment, the frequency estimation unit 413 uses the two most recent recognition frequencies F (n-1) and F (n) to generate a pseudo pulse for each phase division ratio at the interval of the pulse signal. Generate a signal. However, the control device may estimate the recognition frequency of the second embodiment and correct the phase difference of the first embodiment at the timing of generating a pseudo pulse signal for each division ratio.

The control device of the present invention may be configured to change the convergence coefficient of the convergence coefficient controller 23 in addition to the configuration of each of the above-described embodiments. As a result, when vibration damping control is performed using a control device, higher followability to changes in vibration frequency can be realized. Even in this case, in the control device of the present invention, the convergence coefficient can be set to be smaller than that in the configuration in which only the convergence coefficient is changed, so that the decrease in stability can be suppressed.

The present invention can be used in a control device that generates a command signal for driving and controlling a vibrating unit based on information on vibration or sound having periodicity and their frequency information.

1 Vibration damping device 2 Seat 2a Mount 3 Vibration source 4 Body frame (vibration damping object)
5 Vibration detection unit 6 Vibration detection unit 6a Auxiliary mass 10, 110, 210, 310, 410 Control device 11 Vibration frequency information acquisition unit (frequency information acquisition unit)
12 Vibration information acquisition unit 13 Phase correction unit (correction unit)
20 Adaptive filter control unit 21 Phase calculation unit 22 BPF processing unit 23 Convergent coefficient controller 24 Adaptive vector update algorithm block 25 Reverse transmission characteristic controller 26 Adaptive signal update algorithm block 50 ECU (external)
113 Frequency estimation unit (correction unit)
213 Correction unit 231 Correction switching unit 232, 313 Phase correction unit 233, 413 Frequency estimation unit 311 Pulse signal acquisition unit

Claims (5)

A control device that generates a command signal for driving and controlling a vibrating unit based on information on vibration or sound having periodicity and their frequency information.
A frequency information acquisition unit that acquires the frequency information from the outside,
A correction unit that corrects the recognition frequency or phase so as to eliminate the phase difference between the recognition frequency used when generating the command signal and the frequency information.
The control device is equipped with. In the control device according to claim 1,
The correction unit is a control device that estimates the recognition frequency after a predetermined time using a plurality of recognition frequencies closest to the present, and sets the estimation result to a new recognition frequency. In the control device according to claim 1,
The correction unit
A phase correction unit that corrects the phase so as to eliminate the phase difference between the frequency information and the recognition frequency,
A recognition frequency estimation unit that estimates the recognition frequency after a predetermined time using a plurality of recognition frequencies closest to the present and sets the estimation result to a new recognition frequency.
A correction switching unit that switches between phase correction by the phase correction unit and recognition frequency estimation by the recognition frequency estimation unit,
Has a control device. In the control device according to claim 3,
The correction switching unit
The first predetermined period when the frequency information acquisition unit acquires the frequency information within the first predetermined period from the previous acquisition, or when the frequency information acquisition unit cannot acquire the frequency information at a predetermined timing. When has passed, the phase correction unit is made to correct the phase, while
A control device that causes the recognition frequency estimation unit to estimate a recognition frequency when the state in which the frequency information acquisition unit cannot acquire the frequency information has elapsed for the first predetermined period or longer. A vibration-damping part that generates vibrations for the damping object,
The control device according to any one of claims 1 to 4, which generates a command signal for controlling the drive of the vibrating unit.
It is equipped with a vibration damping device.

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