JP4229886B2 - Active anti-vibration support device - Google Patents

Description

  The present invention relates to an active antivibration support device that supports a load of a vibrating body and suppresses vibrations by periodically extending and contracting an actuator with a target current according to the vibration state of the vibrating body under the control of a control unit.

A conventional active vibration isolating support device calculates a crank angular velocity from a time interval of a crank pulse output at every predetermined rotation angle of the crankshaft, and calculates a crankshaft torque from a crank angular acceleration obtained by time-differentiating the crank angular velocity. The vibration state of the engine is estimated as the amount of torque fluctuation, and the vibration control function is exhibited by controlling the energization of the actuator coil in accordance with the vibration state of the engine (for example, see Patent Document 1 below). ).
JP 2003-113892 A

  By the way, in order to control energization to the coil of the actuator, it is necessary to calculate a change in current value with time, that is, a waveform of a target current. In this case, since it is difficult to calculate from the engine vibration state to the target current waveform, conventionally, the target current value (maximum current) and frequency are set from the engine vibration state, and the current value and frequency are set. The target current waveform was searched from the map as a parameter.

  However, when preparing a map of the waveform of the target current according to different current values and frequencies of the target current, there is a problem that the amount of data becomes enormous and the control means requires a large capacity memory. If this is reduced, there is a problem that the accuracy of the waveform of the target current is lowered and the damping function of the active vibration isolating support device is lowered.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to enable accurate calculation of a target current waveform while reducing the number of maps for searching for a target current of an actuator of an active vibration isolating support apparatus. And

In order to achieve the above object, according to the first aspect of the present invention, the load of the vibrating body is supported, and the actuator is periodically operated at a target current corresponding to the vibration state of the vibrating body under the control of the control means. In the active vibration-proof support device that suppresses vibration by extending and contracting, the control unit searches for a waveform of the target current from a plurality of maps having different frequencies, and the frequency of the target current is the frequency of the plurality of maps. If they are different from each other, the waveform of the target current is calculated by complementing the two maps having a frequency sandwiching the frequency, and the plurality of maps represent a plurality of time values of current values corresponding to the waveform of the target current. the data which has respectively, and the data is lost partially in regions adjacent to both ends of the waveform as the frequency increases, in the case, From when one of the map data of the serial two maps can not be said complementing missing, the control unit includes a side maps can was not missing and other data to supplement from the two maps There is proposed an active vibration isolating support device characterized in that the target current waveform is calculated by complementing the data.

  The engine of the embodiment corresponds to the vibrating body of the present invention, and the electronic control unit U of the embodiment corresponds to the control means of the present invention.

According to the configuration of the first aspect, when the control unit searches for the waveform of the target current of the actuator from a plurality of maps having different frequencies, the frequency of the target current is different from any of the frequencies of the plurality of maps. The target current waveform is calculated by complementing the two maps having the frequency sandwiching the frequency, and the data of one of the two maps having the frequency sandwiching the frequency is missing, and the data cannot be complemented. Sometimes, the target current waveform is calculated by complementing the data from the other data that could be complemented from the two maps and the map on the missing side, so the number of maps stored by the control means is minimized. The waveform of the target current can be accurately calculated while reducing the required storage capacity.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below based on examples of the present invention shown in the accompanying drawings.

  1 to 7 show an embodiment of the present invention. FIG. 1 is a longitudinal sectional view of an active vibration isolating support device, FIG. 2 is an enlarged view of a part 2 in FIG. 1, and FIG. FIG. 4 is a diagram showing a map group for searching for a waveform of the target current, FIG. 5 is an enlarged view of 5 part of FIG. 4, FIG. 6 is an enlarged view of 6 part of FIG. 4, and FIG. It is a figure which shows the waveform of two target electric currents.

  As shown in FIGS. 1 and 2, an active anti-vibration support device M (active control mount) used for elastically supporting an automobile engine on a body frame is substantially axisymmetric with respect to an axis L. A substantially cup-shaped actuator case having an open upper surface between a flange portion 11a at the lower end of the substantially cylindrical upper housing 11 and a flange portion 12a at the upper end of the generally cylindrical lower housing 12. The outer peripheral flange portion 13a, the outer peripheral portion of the annular first elastic body support ring 14, and the outer peripheral portion of the annular second elastic body support ring 15 are overlapped and joined by caulking. At this time, the annular first floating rubber 16 is interposed between the flange portion 12a of the lower housing 12 and the flange portion 13a of the actuator case 13, and the upper portion of the actuator case 13 and the inner surface of the second elastic body support member 15 By interposing the annular second floating rubber 17 therebetween, the actuator case 13 is floatingly supported so as to be movable relative to the upper housing 11 and the lower housing 12.

  The lower end and the upper end of the first elastic body 19 formed of thick rubber are joined to the first elastic body support ring 14 and the first elastic body support boss 18 disposed on the axis L by vulcanization adhesion. Is done. A diaphragm support boss 20 is fixed to the upper surface of the first elastic body support boss 18 with bolts 21, and the outer peripheral portion of the diaphragm 22, which is joined to the diaphragm support boss 20 by vulcanization adhesion, is added to the upper housing 11. Joined by sulfur adhesion. An engine mounting portion 20a integrally formed on the upper surface of the diaphragm support boss 20 is fixed to an engine (not shown). In addition, the vehicle body attachment portion 12b at the lower end of the lower housing 12 is fixed to a vehicle body frame (not shown).

  A flange portion 23a at the lower end of the stopper member 23 is coupled to the flange portion 11b at the upper end of the upper housing 11 by bolts 24 ... and nuts 25 ..., and a diaphragm support boss 20 is attached to a stopper rubber 26 attached to the upper inner surface of the stopper member 23. The engine mounting portion 20a that protrudes from the upper surface of the upper and lower surfaces faces each other so as to be able to come into contact therewith. When a large load is input to the active vibration isolating support device M, the engine mounting portion 20a abuts against the stopper rubber 26, thereby suppressing excessive displacement of the engine.

  The outer peripheral portion of the second elastic body 27 formed of a film-like rubber is joined to the second elastic body support ring 15 by vulcanization adhesion, and the movable member 28 is added so as to be embedded in the central portion of the second elastic body 27. Joined by sulfur adhesion. A disk-shaped partition wall member 29 is fixed between the upper surface of the second elastic body support ring 15 and the outer periphery of the first elastic body 19, and the first partition partitioned by the partition wall member 29 and the first elastic body 19. The liquid chamber 30 and the second liquid chamber 31 partitioned by the partition member 29 and the second elastic body 27 communicate with each other through a communication hole 29 a formed at the center of the partition member 29.

  An annular communication path 32 is formed between the first elastic body support ring 14 and the upper housing 11, and one end of the communication path 32 communicates with the first liquid chamber 30 through the communication hole 33. The other end communicates with the third liquid chamber 35 defined by the first elastic body 19 and the diaphragm 22 through the communication hole 34.

  Next, the structure of the actuator 41 that drives the movable member 28 will be described.

  The fixed core 42, the coil assembly 43, and the yoke 44 are sequentially attached to the inside of the actuator case 13 from the bottom to the top. The coil assembly 43 includes a bobbin 45 disposed on the outer periphery of the fixed core 42, a coil 46 wound around the bobbin 45, and a coil cover 47 that covers the outer periphery of the coil 46. The coil cover 47 is integrally formed with a connector 48 that extends through the openings 13b and 12c formed in the actuator case 13 and the lower housing 12 and extends to the outside.

  A seal member 49 is disposed between the upper surface of the coil cover 47 and the lower surface of the yoke 44, and a seal member 50 is disposed between the lower surface of the bobbin 45 and the upper surface of the fixed core 42. These seal members 49 and 50 can prevent water and dust from entering the internal space 61 of the actuator 41 from the openings 13 b and 12 c formed in the actuator case 13 and the lower housing 12.

  A thin cylindrical bearing member 51 is fitted to the inner peripheral surface of the cylindrical portion 44a of the yoke 44 so as to be vertically slidable. An upper flange 51a bent radially inward is formed at the upper end of the bearing member 51. A lower flange 51b that is bent radially outward is formed at the lower end. A set spring 52 is disposed in a compressed state between the lower flange 51b and the lower end of the cylindrical portion 44a of the yoke 44. The elastic force of the set spring 52 causes the lower flange 51b to be fixed to the fixed core 42 via the elastic body 53. The bearing member 51 is supported by the yoke 44 by being pressed against the upper surface of the yoke 44.

  A substantially cylindrical movable core 54 is fitted to the inner peripheral surface of the bearing member 51 so as to be slidable up and down. A rod 55 extending downward from the center of the movable member 28 penetrates the center of the movable core 54 loosely, and a nut 56 is fastened to the lower end thereof. A set spring 58 in a compressed state is disposed between a spring seat 57 provided on the upper surface of the movable core 54 and the lower surface of the movable member 28, and the movable core 54 is pressed against the nut 56 by the elastic force of the set spring 58. Fixed. In this state, the lower surface of the movable core 54 and the upper surface of the fixed core 42 face each other via the conical air gap g. The rod 55 and the nut 56 are loosely fitted into an opening 42 a formed at the center of the fixed core 42, and the opening 42 a is closed by a plug 60 through a seal member 59.

  The electronic control unit U, to which a crank pulse sensor Sa for detecting a crank pulse output with the rotation of the crankshaft of the engine is connected, supplies a target current to be supplied to the coil 46 of the actuator 41 of the active vibration isolating support device M. Control. The engine crank pulse is output 24 times per revolution of the crankshaft, that is, once every 15 ° of the crank angle.

  Next, the operation of the embodiment of the present invention having the above configuration will be described.

  When low-frequency engine shake vibration is generated while the vehicle is running, the first elastic body 19 is deformed by a load input from the engine via the diaphragm support boss 20 and the first elastic body support boss 18, and the first liquid When the volume of the chamber 30 changes, the liquid goes back and forth between the first liquid chamber 30 and the third liquid chamber 35 connected via the communication path 32. When the volume of the first liquid chamber 30 is enlarged / reduced, the volume of the third liquid chamber 35 is reduced / expanded accordingly, but the volume change of the third liquid chamber 35 is absorbed by the elastic deformation of the diaphragm 22. At this time, the shape and size of the communication path 32 and the spring constant of the first elastic body 19 are set so as to exhibit a low spring constant and a high damping force in the frequency region of the engine shake vibration. The vibration transmitted to can be effectively reduced.

  In the frequency region of the engine shake vibration, the actuator 41 is kept in an inoperative state.

  When vibration having a higher frequency than the engine shake vibration, that is, vibration during idling or vibration during cylinder deactivation caused by rotation of the crankshaft of the engine occurs, the first liquid chamber 30 and the third liquid chamber 35 are connected. Since the liquid in the communication path 32 is in a stick state and cannot exhibit the anti-vibration function, the actuator 41 is driven to exhibit the anti-vibration function.

  The electronic control unit U controls the energization of the coil 46 based on the signal from the crank pulse sensor Sa in order to operate the actuator 41 of the active vibration isolating support device M to exhibit the vibration isolating function.

That is, in the flowchart of FIG. 3, first, in step S1, a crank pulse output from the crank pulse sensor Sa every 15 ° of crank angle is read, and in step S2, the read crank pulse is used as a reference crank pulse (specific cylinder). And the time interval of the crank pulse is calculated. In the next step S3, the crank angular velocity ω is calculated by dividing the crank angle of 15 ° by the time interval of the crank pulse, and in step S4, the crank angular velocity ω is time differentiated to calculate the crank angular acceleration dω / dt. In the following step S5, the torque Tq around the engine crankshaft is set as I, and the moment of inertia around the engine crankshaft is set as I.
Tq = I × dω / dt
Calculate by This torque Tq is zero assuming that the crankshaft is rotating at a constant angular velocity ω, but in the expansion stroke, the angular velocity ω increases due to acceleration of the piston, and in the compression stroke, the angular velocity ω decreases due to deceleration of the piston. Since the crank angular acceleration dω / dt is generated, a torque Tq proportional to the crank angular acceleration dω / dt is generated.

  In the subsequent step S6, the maximum value and the minimum value of the temporally adjacent torque are determined, and in step S7, the active vibration isolation support device M that supports the engine as a deviation between the maximum value and the minimum value of the torque, that is, the amount of torque fluctuation. Is calculated (that is, the maximum value of the target current of the actuator 41). In step S8, the frequency of vibration at the position of the active vibration isolating support device M (that is, the frequency of the target current of the actuator 41) is calculated.

In this way, when the maximum value and frequency of the target current of the actuator are set, they are applied to the map group M _nn ... Shown in FIG. 4 to search for the target current waveform as shown in FIG. The map group M _nn ... Shown in FIG. 4 is arranged so that the vertical axis represents the maximum value of the target current and the horizontal axis represents the frequency of the target current, and the map M selected from the maximum value and frequency of the target current. _The electronic control unit U controls the energization to the actuator 41 based on the waveform of the target current stored in _nn .

By the way, if the number of map groups M _nn ... Is increased in a dark manner, a large-capacity memory is required for the electronic control unit U. Therefore, the number of map groups M _nn . It is necessary to ensure the accuracy of the target current waveform. Therefore, in this embodiment, the waveform of the target current is calculated by complementation using two maps.

FIG. 5 shows six maps M _{11 to} M ₁₆ of the map group M _nn ... In FIG. Map M ₁₁ ~M ₁₆ is the maximum value of the current is respectively 0A, 2A, 3A, 4A, 5A and 5.5A corresponds to, I _nn a of each map _{M 11 ~M 16, I nn b} , I nn c, I _nn d, I _nn e... represent current values at a predetermined time. For example, among the six maps M _{11 to} M ₁₆ , there is no map in which the maximum current value corresponds to 1A, but the map M _{11 in} which the maximum current value corresponds to 0A and the maximum current value corresponds to 2A. the maximum value of the current by using the map M ₁₂ to can be calculated by complementing the waveform of the target current in the case of 1A. Specifically, the current value of the target current when the maximum value of the current is 1A, the current value I ₁₁ a map _{M 11, I 11 b, I} 11 c, I 11 d, and I ₁₁ e ..., map The current value of M ₁₂ is an intermediate value from the current values of I ₁₂ a, I ₁₂ b, I ₁₂ c, I ₁₂ d, I ₁₂ e.

FIG. 6 shows two maps M ₁₂ and M ₂₂ of the map group M _nn ... In FIG. Frequency of map M ₂₂ with respect to the frequency of the map M ₁₂ is larger. For example, the map M ₁₂ having a small frequency corresponds to the current waveform in FIG. 7A, and the map M ₂₂ having a large frequency corresponds to the current waveform in FIG. 7B. The number of data of the current value of each map M ₁₂ and M ₂₂ is proportional to the period of the current waveform, and the number of data of the current value of the map M ₁₂ having a long period (small frequency) is the half period of the current waveform. The number of data of the current value of the map M ₂₂ having a short period (high frequency) is 1U, 3U, 5U,... 12U, 14U, whereas 16 corresponding 1D, 2D, 3D,. There are 12 units of 16U. That is, the current values 2U, 4U, 13U, and 15U corresponding to the current values 2D, 4D, 13D, and 15D are missing. As described above, in the maps M ₁₂ and M ₂₂ , as the frequency increases, a part of the data is lost at the both end sides thereof, that is, the areas adjacent to both end portions of the waveform.

The frequency 1, the frequency 2 and the frequency 3 between the map M ₁₂ and the map M ₂₂ are arranged at equal frequency intervals between the frequencies of the maps M ₁₂ and M ₂₂ , and the current according to the length of the period. Has value data. That is, the lowest frequency 1 has a total of 15 data with a missing current value 2H1, and the intermediate frequency 2 has a total of 14 data with missing current values 2H2 and 15H2. The largest frequency 3 has a total of 13 data with the current values 2H3, 2H5 and 15H3 missing. And each current value (namely, current value of target current) of these frequencies 1, 2, and 3 is calculated by complementation from two maps M ₁₂ and M ₂₂ sandwiching them.

For example, data 3H1 frequencies 1, using the current value 3U of current 3D and map M ₂₂ of the map M _12,
3H1 = 3D + (3U-3D) ×. 025
Complemented by Similarly, the current value 3H2 of frequency 2 is
3H2 = 3D + (3U-3D) ×. 05
Similarly, the current value 3H3 of frequency 3 is
3H3 = 3D + (3U-3D) ×. 075
Complemented by

The current value missing frequency 1 of the current value of 4U map M ₂₂ 4H1 includes a can data 3H1 for complementing the current value 3U of current 3D and map M ₂₂ of the map M _12, missing not based on the data side of the map M _12,
4D x (3H1 / 3D)
The current value 4H2 at frequency 2 is
4D x (3H2 / 3D)
Complemented by

In this way, the waveform of the target current corresponding to the maximum value of an arbitrary current or an arbitrary frequency is complemented while saving the memory capacity by minimizing the number of maps included in the map group M _nn . The target current is supplied to the actuator 41.

  Thus, when the engine moves downward with respect to the vehicle body frame and the first elastic body 19 is deformed downward to reduce the volume of the first liquid chamber 30, the coil 46 of the actuator 41 is excited in accordance with the timing. Then, the movable core 54 moves downward toward the fixed core 42 by the suction force generated in the air gap g, and is pulled by the movable member 28 connected to the movable core 54 via the rod 55, so that the second elastic body 27. Deforms downward. As a result, since the volume of the second liquid chamber 31 increases, the liquid in the first liquid chamber 30 compressed by the load from the engine passes through the communication hole 29a of the partition wall member 29 and flows into the second liquid chamber 31. The load transmitted from the engine to the vehicle body frame can be reduced.

  Subsequently, when the engine moves upward with respect to the vehicle body frame and the first elastic body 19 is deformed upward to increase the volume of the first liquid chamber 30, the coil 46 of the actuator 41 is demagnetized in accordance with the timing. Since the attracting force generated in the air gap g disappears and the movable core 54 can move freely, the second elastic body 27 deformed downward is restored upward by its own elastic restoring force. As a result, since the volume of the second liquid chamber 31 decreases, the liquid in the second liquid chamber 31 passes through the communication hole 29a of the partition wall member 29 and flows into the first liquid chamber 30, and the engine is in contact with the vehicle body frame. It can be allowed to move upward.

  In this way, by exciting and demagnetizing the coil 46 of the actuator 41 according to the engine vibration cycle, it is possible to generate an active damping force that prevents the engine vibration from being transmitted to the vehicle body frame. .

  Although the embodiments of the present invention have been described above, various design changes can be made without departing from the scope of the present invention.

  For example, although the active vibration isolating support device M of the embodiment is applied to support an automobile engine, it can be applied to any other application.

Longitudinal section of active vibration isolator 2 enlarged view of FIG. Flow chart explaining operation The figure which shows the map group which searches the waveform of the target current 5 enlarged view of FIG. 6 enlarged view of FIG. Diagram showing waveforms of two target currents with the same current value but different frequencies

Explanation of symbols

U Electronic control unit (control means)
41 Actuator

Claims (1)

An active vibration isolating support device for supporting the load of the vibrating body and suppressing the vibration by periodically extending and contracting the actuator (41) with a target current according to the vibration state of the vibrating body under the control of the control means (U). In
The control means (U) searches for a waveform of the target current from a plurality of maps each having a different frequency, and if the frequency of the target current is different from any of the frequencies of the plurality of maps, a frequency sandwiching the frequencies is determined. Complement the two maps you have, calculate the target current waveform,
Each of the plurality of maps has a plurality of data representing a time change of the current value corresponding to the waveform of the target current, and partially deletes the data in a region adjacent to both ends of the waveform as the frequency increases. And
In the above case, when the data of one of the two maps is missing and cannot be complemented, the control means (U) is missing from the other data that could be complemented from the two maps. active vibration isolating support apparatus characterized by calculating a waveform of the target current complements the data from the side of the map are not.

Images