JP2972708B2 - Adaptive controller for actuator systems - Google Patents

Abstract

An arrangement for converting an electric input signal into an acoustic or a mechanical output signal comprises a transducer 19 such as a loudspeaker, a controller 15 and a parameter detector 17. The output 23 of the controller is connected via the parameter detector to the terminals of the transducer. The controller has a parameter vector input 24 to change the linear or nonlinear transfer characteristic of the controller. The parameter detector comprises an error circuit 31 and update circuit 33. The error circuit 31 measures an electric signal at the terminals of the transducer and generates an error signal e(t) which describes the difference between the measured electric signal and an estimated electric signal derived from the output signal or other state signals of the controller. The update circuit 33 estimates transducer parameters by minimizing the amplitude of the error signal. The estimated parameters are supplied both to the error circuit 31 and to the controller 15 to adjust the controller to the particular transducer and to compensate for distortion in the mechanical or acoustic output signal.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a transducer (transducer).
er) to correct the distortion of the linear and / or non-linear signals generated by the method and to provide an adaptive control of the converter to achieve the desired overall transfer characteristic between the electrical input signal and the electrical output signal, in particular, The present invention relates to an adaptive control device and method that does not require an additional sensor.

[0002]

2. Description of the Related Art Transducers (loudspeakers, headphones, shakers) used as actuators produce significant linear and non-linear distortion of the output signal. This distortion affects the quality of the reproduced sound and reduces the efficiency of the active sound attenuation system.

[0003] An electrical control unit connected to the input terminal of a converter can correct signal distortion if the control unit exhibits the reverse transfer characteristic of the converter. Correcting for the inherent non-linearity of the converter requires a non-linear controller, which is disclosed in US Pat.
No. 391 discloses a polynomial filter (a polynomialfi
lter), the mirror filter disclosed in US Pat. No. 5,438,625, or J. Audio Eng. Soc., vo.
l J. Suykens, et al., "Feedback Linearization of Nonlinear Diode in Dynamic Speakers," 43, pp. 690-694.
static state feedback linearization described in "stortion in Electrodynamic Loudspeakers"
(static state feedback linearization).

[0004] Parameter uncertification
ainties), German Patent Application DE 433
As disclosed in 2804A1, the adjustment of the free parameters of the control device can be performed adaptively. The device allows the filter parameters to be determined in a normal mode of operation for reproducing audio or other signals without offline pre-training, and adapts online to changes in parameters caused by heating or aging. However, adaptive controllers require information about the output signal or internal state of the converter. Direct measurement of acoustic or mechanical output signals requires accurate sensors (eg, microphones and accelerometers), which are expensive and impractical in many applications.

FIG. 1 shows a general block diagram of an adaptive control device for a converter, as disclosed in DE 43 33 040.

[0006] German Patent DE 43 33 040 discloses an adaptive control system in which no additional acoustic or mechanical sensors are required. The device comprises a converter 1, an adaptive correction filter 3, an adaptive detector circuit 5, a reference filter
(a reference filter) 7 and a comparator 9 are provided.

The electric signal w input to the signal input terminal 11
(T) shows the correction filter 3 and the subsequent detection circuit 5
Is supplied to the terminal of the converter 1 via Detection circuit 5
Is the velocity of the voice coil of the converter 1 (velocity: v
(T)) is generated. The reference signal r (t) generated by the reference filter 7 and the estimated speed v (t) generated by the detection circuit 5 are supplied to a comparator 9. The comparator 9 outputs the error signal e (t) = r (t) -v
(T) is generated. Both the correction filter 3 and the detection circuit 5 are adaptive systems that perform separate parameter estimation based on minimization of the error signal e (t).

The adaptive detection circuit 5 estimates the speed of the voice coil using the voltage and current measured at the terminals of the converter 1. The estimated speed is calculated using the adaptive control filter (an adaptiv
e control filter) and used for estimating optimal filter parameters. The adaptive adjustment of the filter and the adaptive adjustment of the detector are 2
Two different processes and can be implemented with different filter structures. However, the two different adaptive systems create a high degree of computational complexity that cannot be implemented with digital signal processors available at a fraction of the cost.

[0009]

SUMMARY OF THE INVENTION It is an object of the present invention to correct the distortion of linear and non-linear signals generated by a transducer, to protect the transducer from thermal and mechanical overload, and to provide control in an integrated system. It is an object of the present invention to provide an adaptive control device and method for an actuator system that can generate a desired transfer characteristic between an input and a converter output.

Another object of the present invention is to measure the electrical signal (voltage or current) at the terminals of the loudspeaker and adjust the free parameters of the controller to a particular transducer, eliminating the need for expensive sensors. It is an object of the present invention to provide an adaptive control device and method for an actuator system.

It is yet another object of the present invention to provide a robust, minimally unknown parameter.
It is an object of the present invention to provide an adaptive control device and method for an actuator system that can guarantee a proper convergence.

It is a further object of the present invention to provide an actuator system which has a minimum number of elements to reduce the cost of the system and which can reduce the processing power required of a digital signal processor (DSP). To provide an adaptive control device and method.

[0013]

SUMMARY OF THE INVENTION An adaptive controller for an actuator system according to the present invention uses a converter to convert an electrical input signal into a mechanical or acoustic output signal. A control device having a control input terminal to which the electrical input signal is supplied, a control output terminal to generate an electrical output signal, and a parameter vector input terminal to which one or more transfer parameter values are supplied, and the control output terminal , The detector input terminal connected to the
A parameter detector having two detector output terminals and a parameter vector output terminal, wherein the parameter vector output terminal generates one or more transfer parameter values for supplying to the parameter vector input terminal of the controller. Signal distortion caused by the transducer is adaptively corrected to achieve a desired transfer characteristic between the electrical input signal and the mechanical or acoustic output signal.

An adaptive control method for an actuator system according to the present invention is a method for converting an electrical input signal into a mechanical or acoustic output signal, wherein the mapping function can be modified by control parameters.
converting the electrical input signal to an electrical control signal using a function, converting the electrical control signal to the mechanical or acoustic output signal using a converter, at a terminal of the converter, Measuring a second electrical signal different from the electrical control signal; modeling the converter using a converter model having free model parameters; and determining the electrical control signal and the second electrical signal. Estimating the optimal model parameters for the transducer model to define a relationship between the electrical input signal and the mechanical or acoustic output signal. Converting the optimal model parameters to the optimal control parameters using the relationship between the optimal control parameters and the optimal control parameters. Using a parameter to adapt the mapping function to the converter.

The device for converting an electrical input signal into a mechanical or acoustic output signal comprises a converter, a control device and a parameter detector. The control device has a control input terminal to which an electric input signal is supplied and a control output terminal connected to a signal input terminal of the parameter detector. The parameter detector has two signal output terminals connected to the terminals of the converter.

The controller compensates for linear and non-linear distortions caused by the transducer and / or protects the transducer from mechanical or thermal overload and permanent destruction. In order to maintain the maximum efficiency of the transducer at large displacements, the controller determines the rest position of the voice coil by adding the position control signal to the electrical control signal to the stiffness of the mechanical suspension (k (x) ) Adjust to the position where the characteristic is minimum or the position where the force coefficient characteristic is maximum.

The parameter detector has a parameter vector output terminal from which one or more estimated values for the converter parameters are output. The controller has a parameter vector input to which an output from a parameter vector output terminal of the detector is provided. The control device changes according to the instantaneous value of the input signal of the parameter vector input terminal,
It has a variable transfer characteristic between the control input terminal and the control output terminal.

The free parameters of the controller are adjusted to suit the particular transducer in order to produce the desired transfer characteristic between the control input and the transducer output in the overall system. Both the controller and the parameter detector are based on a physical model of the transducer. Therefore,
The optimal parameters of the controller are derived directly from the converter parameters.

In a first step, the parameter detector determines this model and estimates the converter parameters by measuring the electrical signal at the terminals of the converter. In a second step, the estimated converter parameters are supplied to a parameter vector input terminal of the controller, and based on the input converter parameters, the optimal relationship is determined from the defined relationship between the converter parameters and the control parameters. Control parameters are derived. Finally, the variable transfer characteristics of the control device are adjusted using the optimal control parameters.

In systems known from the prior art, an adaptive circuit is required in the control unit to separately estimate the optimal control parameters. The present invention reduces computational complexity, speeds and robustness of parameter estimation.
stness).

[0021]

Embodiments of the present invention will be described below.

FIG. 2 shows a first embodiment of the adaptive control system for an actuator according to the present invention. This device includes a control device 15, a parameter detector 17, and a converter 19.

The control device 15 has a variable transmission characteristic between the control input terminal 13 and the control output terminal 23. This transfer characteristic is determined by the instantaneous converter parameters summarized in the vector P input to the parameter vector input terminal 24.

When compared with the prior art of FIG.
Reference numeral 5 is not an adaptive filter to which an error signal is supplied, and the control device 15 has a variable linear or nonlinear transfer characteristic determined by an input to the parameter vector input terminal 24.

The parameter detector 17 has a detector input terminal 21, two detector output terminals 25 and 27, and a parameter vector output terminal 29. The signal z (t) is supplied to the detector input terminal 21 from the control output terminal 23. Detector output terminals 25 and 27 are connected to terminals of converter 19. The converter parameter P is estimated by the parameter detector 17 and supplied to the parameter vector input terminal 24 of the control device 15 via the parameter vector output terminal 29.

The parameter detector 17 has an error circuit 31 and an update circuit 33. The error circuit 31 has an error circuit input terminal 35, two error circuit output terminals 37, 3
9, error output terminal 41, gradient output terminal (a gradient ou
tput) 43 and a parameter vector input terminal 45.

The error circuit input terminal 35 is supplied with a signal z (t) from the detector input terminal 21. The error circuit output terminals 37 and 39 are connected to the detector output terminals 25 and 27, respectively. An estimated value P relating to the converter parameter is supplied to the parameter vector input terminal 45.
The error circuit 31 generates an error signal e (t) which is a criterion for determining a converter parameter. Error circuit 31 also generates a gradient vector S _G derived from the estimated state signal of the transducer.

The updating circuit 33 includes a parameter vector output terminal 47, a gradient vector input terminal 49 to which the gradient vector _SG is supplied from the gradient output terminal 43, and an error input to which the error signal e (t) is supplied from the error output terminal 41. Terminal 5
1 is provided. The updating circuit 33 generates an estimated value P relating to a converter parameter determined by the gradient signal _SG and the error signal e (t).

The estimated parameter P is supplied to the parameter vector input terminal 45 of the error circuit 31 and the parameter vector output terminal 29 of the parameter detector 17 via the parameter vector output terminal 47. When the amplitude of the error signal e (t) is at a minimum, the parameter detector 17 is adjusted to be optimal for a particular converter, and the parameter vector P is an optimal estimate for the actual converter parameters.

The controller 15 may control the signal w to reduce signal distortion and / or under overload conditions.
This can be achieved by using a linear or non-linear filter or a static state feedback linearization technique to attenuate (t).

FIG. 3 shows the configuration of the control device 15 in more detail. The output z (t) of the control device 15 is obtained by using a mirror filter method for the current drive.
Is generated by the control law of the following equation 1.

[0032]

(Equation 1)

Here, the displacement x _m is synthesized from the input w as shown in the following equation (2).

[0034]

(Equation 2)

In equations 1 and 2, b (x) is a variable force factor determined by displacement x, and k (x) is the variable stiffness of the mechanical suspension (the
varying stiffness of the mechanical suspension), m is the moving mass, R _m is the mechanical damping, s is the Laplace operator, and L ^-1逆 is the inverse Laplace transform.

The non-linear parameter is expanded into a truncated power series as shown in the following equation (3).

[0037]

(Equation 3)

The linear parameters m, R _m and the coefficients of equation 3 are free parameters of the controller 15 that are directly related to the transducer parameters determined by the vector P. The transmission response of the control device 15 can be adjusted by using an amplifier having a controllable gain for each control parameter. For clarity, are shown only the adjustment of FIG. 3, control parameter k _1, other control parameters may be adjusted as well.

The electric signal w input to the input terminal 13
(T) is supplied to a first input terminal of an adder 63 via an amplifier 61 having a gain b ₀ . Input terminal 13
Is also connected to the input of a linear filter 65 that generates a displacement x _{m according} to equation (2). The displacement x _m is supplied to the other input of the adder 63 via a squarer 67 followed by a controllable amplifier 69. This part has rigidity k
Displacement (displacement varying stiff)
ness) caused by second-order disto
rtion).

The parameter estimation value k ₁ input to the input terminal 71 which is a part of the parameter vector input terminal 24 in FIG. 2 is supplied to the control input terminal of the controllable amplifier 69 via the parameter converter 73. You. The parameter converter 73 determines the desired overall characteristic (the desired ov).
The converter parameters are converted into the corresponding control parameters based on the erall characteristic. Comprehensive system
(the overall system) to linearize the gain of the controllable amplifier 69 must equal the transducer parameters k _1. The parameter converter 73 also provides, with respect to physical plausibility,
The estimated converter parameter values are checked and the estimated parameters are stored so that the controller continues to operate if some of the parameter detectors fail.

The static non-linear system 75 and the adder 77 have a non-linear stiffness k
Correction for higher-order distortion caused by (x) is performed.
The correction to the nonlinear force coefficient b (x) is performed using the static nonlinear system 79, the multiplier 81, and the adder 83 according to Equation 1. FIG. 3 also shows that the converter parameter k ₁ , which is part of the parameter vector P,
The state of transmission from the update output terminal 53 of the update circuit 33 to the parameter input terminal 55 of the error circuit 31 and to the parameter input terminal 71 via the parameter output terminal 57 is shown.

FIG. 4 shows an error circuit 31 and an update circuit 33.
Is shown in detail. The control output signal z (t) is
High output impedance via error circuit input terminal 35
(ahigh output impedance) is supplied to the amplifier 59 (monitor circuit). This amplifier 59 controls the control signal z
(T) is converted to a current i (t) supplied to a converter (current drive). The voltage u (t) between the terminals of the converter is
It corresponds to the instantaneous impedance of the converter.

The error circuit 31 includes a comparator 57. Comparator 57 outputs voltage u measured at the terminals of the converter.
A first input terminal to which (t) is supplied, the estimated voltage u ＾
A second input terminal to which (t) is supplied and an error output terminal 4
Error signal e (t) = u ＾ (t) -u supplied to 1
A comparator output terminal for generating (t).

The error circuit 31 estimates the voltage u ＾ (t) based on the following equation (4).

[0045]

(Equation 4)

The estimated displacement x _D is given by the following equation (5).

[0047]

(Equation 5)

[0048] Here, R _e is the resistance of the voice coil, L _e (x) is variable induction factor of the voice coil.
This part of the error circuit 31 is based on the current i determined by the transducer parameters summarized in the vector P.
It has a variable transfer characteristic between (t) = z (t) and the estimated voltage u ＾ (t). For clarity, FIG. 4 only shows the adjustment of the non-linear coefficient k ₁ , but the same principle applies to other parameters in P.

In order to perform the operation of Equation 4, the error circuit 31
Is an amplifier 89 having a gain _Re and a transfer function L
_e (x) with static non-linear system 91, multiplier 93, differentiator 95, adder 9
7. Static nonlinear system 99 with transfer function b (x), differentiator 101, multiplier 103 and adder 1
05 (with estimator). The estimated voltage u ＾ (t) that is the output of the adder 105 is supplied to the comparator 57.

According to Equation 5, the displacement x _D is calculated by the multiplier 10
7, adder 109, static nonlinear system 11
1, square arithmetic unit 113, controllable amplifier 11
5, adder 117 and transfer function H _G = 1 / (ms ² +
It is estimated using a linear filter 119 having a _{R m s + k (0)} ).

The controllable amplifier 115 corresponds to FIG.
And a control input terminal to which a parameter estimated value k ₁ is supplied from a parameter input terminal 55 which is a part of the parameter vector input terminal 45. The output of the square operation unit 113 is a linear filter 1 having a transfer function H _G (s).
23 inputs. The multiplier 124 includes the filter 1
23 is multiplied by the output of the static nonlinear system 99 to generate the gradient signal _sk1 supplied to the gradient vector output terminal 43 of FIG.

The updating circuit 33 obtains the minimum value of the mean square error based on the converter parameter P as shown in the following equation (6).

[0053]

(Equation 6)

Starting from an initial guess for the converter parameter P, the next guess for the parameter vector is a simple gradient-based adaptive algorithm (the straightforward
(Gradient-based adaptation algorithm).

[0055]

(Equation 7)

[0056] update circuit 34 which is part of the update circuit 33 of FIG. 2 is intended to adjust the parameters k ₁ according to Equation 7, the multiplier 127 and integrator (an integrator) 12
9 is provided. The multiplier 127 includes an error signal e (t)
And a gradient signal S _k1 = {u} (t) / Δk ₁ input via the gradient signal input terminal 49. Simple L
According to the MS algorithm, the expectation operation (the expectatio
n operator) E [] is approximated by an integrator 129 that supplies the parameter estimate k ₁ to the parameter output terminal 53. If the amplitude of the error signal is a minimum value, the detector
It is tuned to be optimal for a particular transducer and provides optimal estimates for the transducer parameter k ₁ (part of the vector P) and the transducer state signal (displacement x _D ).

FIG. 5 shows a second embodiment of the present invention. The control device 16 corresponds to the control device 15 of FIG. 2, but has an additional control state vector output terminal 28 and a converter state vector input terminal 30. The error circuit 26 corresponds to the error circuit 31 of FIG. 2, but is connected to an additional control state vector input terminal 32 connected to the additional control state vector output terminal 28 and to a detector state vector input terminal 30. And a converter state vector output terminal 34.

[0058] transfer to the error circuitry 26 of the state vector S _c of the control unit 16 allows the modification of the parameter estimation.
By substituting Equation 1 for the current i in Equations 4 and 5, the partial differential (partial de
rivation) leads to a gradient vector S _G that depends on both the state of the detector 17 and the state of the controller 16. The gradient vector _SG is supplied to a gradient vector input terminal 49 of the updating circuit 33. The present invention uses a joint parameter update system instead of two different update systems as disclosed in the prior art. This guarantees the stability and convergence of parameter estimation.

To use the normal state feedback linearization, the controller 16 provides a converter state vector to which the estimated converter state S _T (eg, displacement x _D ) is supplied from a converter state vector output terminal 34. An input terminal 30 is provided. The control law of the control device 16 corresponds to the control law of the mirror filter (Equation 1), but the combined displacement
Instead of (the synthesized displacement) x _m, using a displacement x _D, which is estimated according to Equation 5 by the error circuitry.

FIG. 6 shows a third embodiment of the present invention. This device corrects the position of the voice coil of the converter by adding a DC signal (dc signal) W _offset to the electrical input signal w (t). This DC component W
_offset is the static position of the voice coil
It is moved to a position where (x) is minimum or a position where the force coefficient characteristic b (x) is maximum. As a result, the nonlinear distortion caused by the asymmetric parameter characteristic is reduced, and the stability and efficiency of the integrated system are improved.

The control device 133 includes an adder 151, a non-linear control circuit 149, and a position control circuit 143. A first input terminal of the adder 151 has a control input terminal 1
An electric control signal w (t) is supplied via 37. The signal w _offset is supplied to the second input terminal of the adder 151 from the output terminal 145 of the position control circuit 143.

The output of the adder 151 is output to the nonlinear control circuit 1
The signal is supplied to the control output terminal 141 through the control output terminal 49. The input terminal 153 of the position control circuit 143 and the input terminal of the nonlinear control circuit 149 are both supplied with the converter parameter vector P via the input terminal 139. In order to move the voice coil rest position to a position where the k (x) characteristic is minimized, the position control circuit 143 generates a signal w _offset based on the following equation (8).

[0063]

(Equation 8)

FIG. 7 shows a fourth embodiment of the present invention in which the converter is driven by a low impedance source (normal voltage drive).
Is shown. Here, the transfer characteristic of the control device 161 is the instantaneous electric resistance R _e (t) of the voice coil.
Update of this parameter when the voice coil temperature changes (an permanent
updating).

Alternatively, the electric resistance R _e (t) is obtained by the electric signal from the control input terminal 13 or the control output terminal 23 and the thermal resistance R _T estimated by the parameter detector 17 and supplied through the parameter input terminal 24. Are supplied by a resistance estimator 163 in the controller 161 to which
Is calculated.

FIG. 8 shows a fifth embodiment of the present invention. The controller 165 includes a control filter 149 for linearizing the transducer and means for protecting the transducer from mechanical destruction. Signal w from control input terminal 13
Is supplied to the input terminal of the control filter 149 and the input terminal of the reference filter 169 for estimating the instantaneous displacement x of the voice coil via the attenuation device 167. If the absolute value of the displacement [x (t)] is equal to the critical threshold value x _max , the controller 171 activates the damping device 167 for damping the input signal.

In this embodiment, the threshold value x _max is calculated by the threshold value detector 173 using non-linear parameters (force coefficient and rigidity) supplied with the parameter vector P from the parameter vector input 24.

The above description should not be construed as limiting the practice of the present invention, but is intended to cover many other variations that do not depart from the broad rights and objects of the invention.

[0069]

According to the present invention, the distortion of linear and non-linear signals generated by a converter is corrected, the converter is protected from thermal and mechanical overloads, and the control input and the converter are integrated in an integrated system. An adaptive controller and method for an actuator system that can generate a desired transfer characteristic to and from an output is provided.

According to the present invention, the electric signal (voltage or current) is measured at the terminal of the loudspeaker, and the free parameters of the control device are adjusted to suit a specific converter, thereby eliminating the need for an expensive sensor. An adaptive control device and method for an actuator system is realized.

According to the present invention, there is provided an adaptive control apparatus and method for an actuator system which has a minimum unknown parameter and can guarantee stable and robust convergence. Placement and method

According to the present invention, an adaptation for an actuator system which has a minimum number of elements to reduce the cost of the system and can reduce the processing power required of a digital signal processor (DSP). A control device and method are realized.

[Brief description of the drawings]

FIG. 1 is an overall block diagram of an adaptive control device known in the prior art.

FIG. 2 is a block diagram showing an embodiment of an adaptive control device for an actuator according to the present invention.

FIG. 3 is a block diagram showing an embodiment of a more detailed control device.

Figure 4 is a block diagram showing a more detailed embodiment of the error circuitry and update circuit parameters k _1.

FIG. 5 is a block diagram showing a second embodiment of the present invention.

FIG. 6 is a block diagram showing a third embodiment of the control device for correcting the position of the voice coil.

FIG. 7 is a fourth example of a control device that corrects thermal compression.
It is a block diagram showing an embodiment.

FIG. 8 shows a fifth embodiment of a control device for providing overload protection.
It is a block diagram showing an embodiment.

[Explanation of symbols]

 13 Control Input Terminal 15 Controller 17 Parameter Detector 19 Converter 21 Detector Input Terminal 23 Control Output Terminal 24 Parameter Vector Input Terminal 25, 27 Detector Output Terminal 29 Parameter Vector Output Terminal 31 Error Circuit 33 Update Circuit 35 Error Circuit Input Terminals 37, 39 Error circuit output terminal 41 Error output terminal 43 Gradient output terminal 45 Parameter vector input terminal 47 Parameter vector output terminal 49 Gradient vector input terminal 51 Error input terminal

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) H04R 3/04

Claims (22)

(57) [Claims] 1. An adaptive control device for an actuator system for converting an electrical input signal into a mechanical or acoustic output signal using a converter, comprising: a control input terminal to which the electrical input signal is supplied; A control device having a control output terminal for generating an output signal and a parameter vector input terminal to which one or more transfer parameter values are supplied; and a detector input terminal connected to the control output terminal, connected to a terminal of the converter. A parameter detector having two detector output terminals and a parameter vector output terminal, wherein the parameter vector output terminal generates one or more transfer parameter values for supplying to the parameter vector input terminal of the control device. , Adaptively correcting signal distortion caused by the converter,
An adaptive controller for an actuator system adapted to achieve a desired transfer characteristic between the electrical input signal and the mechanical or acoustic output signal. 2. The adaptive control device for an actuator system according to claim 1, wherein the one or more transfer parameter values are estimated values corresponding to converter parameters for the converter. 3. The variable transfer characteristic between the control input terminal and the control output terminal, wherein the variable transfer characteristic is changed by one or more transfer parameter values supplied to the parameter vector input terminal. An adaptive controller for an actuator system according to claim 1, comprising: 4. The control device according to claim 1, wherein the electric input signal inputted to the control input terminal is supplied, the electric output signal supplied to the control output terminal is generated, and at least one of the control parameters is supplied. The adaptive control device for an actuator system according to claim 1, comprising a linear or non-linear control system having two control parameter input terminals. 5. The at least one control device, comprising: a converter input terminal to which one of the converter parameters is supplied from the parameter vector input terminal; and a converter output terminal connected to the control parameter input terminal. 5. The adaptive control for an actuator system according to claim 4, comprising one parameter converter. 6. The parameter converter controls the converter parameters to produce the desired transfer characteristics in an integrated system and / or to protect the converter from mechanical or thermal overload. 6. The adaptive control device for an actuator system according to claim 5, wherein the adaptive control device converts the parameter into a parameter. 7. The parameter converter includes a memory for generating a control parameter at the converter output terminal when the parameter detector does not operate sufficiently and the converter parameter is not available at the converter input terminal. An adaptive control for an actuator system according to claim 5, characterized in that it comprises: 8. The parameter converter according to claim 1, further comprising means for setting a control parameter at the converter output terminal to a predetermined value when the converter parameter is not within a specified range. An adaptive controller for the actuator system according to claim 5. 9. The adaptive control device according to claim 1, wherein the parameter detector is an adaptive system. 10. The parameter detector includes an error circuit and an update circuit, wherein the error circuit has an error circuit input terminal connected to the detector input terminal and an error circuit connected to the detector output terminal. A circuit output terminal, a converter parameter vector input terminal to which one or more converter parameters are input, a gradient vector output terminal for outputting one or more gradient signals, and an error output terminal for outputting an error signal; The updating circuit includes a gradient vector input terminal to which a gradient signal output from the gradient vector output terminal of the error circuit is supplied, an error input terminal to which an error signal output from the error output terminal of the error circuit is supplied, and Connect to the parameter vector output terminal of the parameter detector and the converter parameter vector input terminal of the error circuit. A converter parameter vector output terminal, wherein the updating circuit generates an estimated value related to the one or more converter parameters by minimizing the amplitude of the error signal and outputs the estimated value to the converter parameter vector output terminal. The adaptive control device for an actuator system according to claim 9, wherein: 11. The error circuit includes a monitor input terminal connected to the error circuit input terminal, two monitor output terminals connected to the error circuit output terminal, and a measurement output terminal. A monitor circuit for measuring an electric signal, an estimator input terminal, an estimator parameter vector input terminal connected to the converter parameter vector input terminal, an estimator gradient vector output terminal connected to the gradient vector output terminal, and an estimator output An estimator having a terminal, the estimator having a variable transfer characteristic between the estimator input terminal and the estimator output terminal, the estimator varying with an input signal of the estimator parameter vector input terminal, and being connected to the estimator output terminal. Connected to the first comparator input terminal, the second comparator input terminal to which the measurement output terminal is connected, and the error output terminal. It includes a comparator output terminal is, the first
The adaptive control device for an actuator system according to claim 10, further comprising: a comparator that outputs a difference between a signal input to a second comparator input terminal and a comparator output terminal. 12. The adaptive control device according to claim 11, wherein the detector input terminal is connected to the estimator input terminal via the error circuit input terminal. 13. The control device includes a control vector status output terminal to which one or more status signals of the control device are supplied, and the parameter detector includes a control vector status output terminal connected to the control vector status output terminal. The adaptive control device for an actuator system according to claim 1, further comprising a vector state input terminal. 14. The parameter detector further comprises a transducer state vector output terminal to which one or more estimates of the transducer state signal are supplied, and wherein the control device comprises the transducer state vector output terminal. 2. The adaptive control device for an actuator system according to claim 1, further comprising a converter state vector input terminal connected to the input terminal. 15. A position control circuit having an input terminal connected to the parameter vector input terminal and a position control output terminal, and a first adder to which the electric input signal is supplied from the control input terminal. The adder output connected directly to the control input terminal, the second adder input terminal connected to the position control input terminal and the control output terminal, or connected to the control output terminal via a non-linear control circuit. The adaptive controller for an actuator system according to claim 1, further comprising an adder having: 16. The control device, wherein one of the converter parameters is supplied from an estimator signal input terminal to which either the electric input signal or the electric output signal of the control device is supplied, and the parameter vector input terminal. 5. A resistance estimator having at least one thermal parameter input terminal and an output terminal for outputting an estimated value of the electrical resistance of the voice coil supplied to the control parameter input terminal. An adaptive control for the described actuator system. 17. The control device according to claim 16, wherein at least one of said converter parameters is supplied from said parameter vector input terminal and comprises means for protecting the converter from overload and permanent destruction. Item 7. An adaptive control device for an actuator system according to Item 1. 18. A method for converting an electrical input signal to a mechanical or acoustic output signal, wherein the electrical input signal is converted to an electrical control signal using a mapping function that can be modified by a control parameter. Converting the electrical control signal to the mechanical or acoustic output signal using a converter; measuring a second electrical signal different from the electrical control signal at a terminal of the converter; Modeling the converter using a converter model having free model parameters; defining an optimal model parameter for the converter model to define a relationship between the electrical control signal and the second electrical signal. Estimating to generate a desired overall function between the electrical input signal and the mechanical or acoustic output signal; Converting the optimal model parameters into the optimal control parameters using a relationship between the converter model and the mapping function; and adapting the mapping function to the converter using the optimal control parameters. Adaptive control method for an actuator system. 19. The modeling of the converter is performed based on linear and non-linear parameters, and the conversion of the electric input signal to the electric control signal is performed based on a non-linear mapping function. An adaptive control method for an actuator system according to claim 18, wherein: 20. When the step of estimating the optimal model parameters of the converter model is performed intermittently, the step of storing the optimal model parameters and / or the optimal control parameters; 19. The adaptive control method for an actuator system according to claim 18, comprising using a stored parameter for the mapping function to be converted into the electric control signal. 21. The method according to claim 18, further comprising the steps of: generating a position control signal from the optimal model parameters; and moving the voice coil to an optimal stationary position using the position control signal. 13. An adaptive control method for an actuator system according to claim 9. 22. Estimating a converter status signal indicative of a thermal or mechanical overload of the converter using the electrical input signal or the electrical control signal; Calculating a threshold value defining an allowable maximum amplitude, and, if the amplitude of the state signal exceeds the threshold value, changing a mapping function so as to attenuate the control signal. An adaptive control method for an actuator system according to claim 18.