JP4740351B2 - Active vibration isolation support device and vibration isolation control method thereof - Google Patents

Description

  The present invention relates to an active vibration isolation support device and a vibration isolation control method for supporting an engine with respect to a vehicle body and suppressing transmission of vibration from the engine to the vehicle body.

  Since the vibration generated in the engine is generated with the rotation of the crankshaft, the vibration is generated at a relatively high frequency, and one vibration ends in a short time, and the vibration cycle is short. For this reason, it has been proposed that the control for suppressing the transmission of vibration is performed using the time during which three vibrations are generated (see, for example, Patent Document 1). Assuming that the times when the vibrations are generated three times are the first real cycle, the second real cycle, and the third real cycle in order, the vibration is measured in the first real cycle, and the active protection is performed in the second real cycle. The target current of the drive current to be passed through the vibration support device was calculated, and the drive current was passed through the active vibration isolation support device in the third actual cycle.

JP 2005-3050 A

  However, when the rotational speed of the engine (crankshaft) fluctuates as it becomes faster or slower, vibrations from the engine are transmitted to the passengers in the vehicle, which may cause the passengers to feel uncomfortable.

  Therefore, the present invention provides a control device and a control method for an active vibration isolating support device that can suppress transmission of vibration from the engine to the vehicle body and reduce discomfort to the occupant even when the rotational speed of the engine varies. The purpose is to provide.

The present invention measures a crank pulse based on engine rotation, and uses the crank pulse data belonging to the first vibration period in the engine vibration period to provide an anti-vibration actuator in the next second vibration period. An active vibration isolating support device including a control device that calculates a target current value to flow and drives and controls the actuator using the calculated target current value in a next third vibration cycle,
The controller is
Calculating the length of the first vibration period;
Among the crank pulses belonging to the first vibration cycle, the time width of the crank pulse at a predetermined position of the first vibration cycle is defined as a first pulse time width,
Of the crank pulses belonging to the second vibration cycle, the time width of the crank pulse at the predetermined position of the second vibration cycle set corresponding to the predetermined position of the first vibration cycle is the second pulse time. Width and
Using the first pulse time width, the second pulse time width, and the length of the first vibration period, the length of the second vibration period is calculated,
Using the length of the first vibration cycle and the length of the second vibration cycle, the length of the third vibration cycle is calculated,
In the second vibration cycle, a target current value to be passed through the actuator is calculated using the calculated length of the third vibration cycle.

  When the rotational speed of the engine fluctuates, for example, when it is faster, the period of vibration generated in the engine is the first vibration period (first actual period) and the next second vibration period (first 2 actual cycles) and to the next third vibration cycle (third actual cycle). The vibration is measured by reading the first generation interval (first pulse time width) of the crank pulse over the first real cycle in the first real cycle, and corresponding to the first real cycle in the second real cycle. When the target current of the drive current to be passed through the active vibration isolation support device is calculated and the drive current is passed through the active vibration isolation support device so as to realize the target current corresponding to the first real cycle in the third real cycle, In the third real cycle, since the drive current for the first real cycle having a length different from that of the third real cycle is passed, it is considered that the suppression of vibration transmission is insufficient.

  In the present invention, the length of the third vibration cycle is calculated, and the target current can be normalized to the length of the third vibration cycle. Since a drive current whose period substantially coincides with the third vibration period is passed, the deviation of the period becomes slight, and transmission of engine vibration can be sufficiently suppressed.

  In the present invention, the length of the third vibration cycle can be reliably calculated within the second vibration cycle. For the calculation of the length of the third vibration period, the first generation interval (first pulse time width) at a predetermined position such as the initial stage of the first vibration period (first actual period), and the second The second generation interval (second pulse time width) at a predetermined position such as the initial stage of the vibration cycle (second real cycle) and the length of the first vibration cycle (first real cycle) are used. The first generation interval and the first calculation period at a predetermined position (initial stage, etc.) of the first actual cycle are acquired based on data read in the first actual cycle, and a predetermined position ( The second generation interval (such as initial) is acquired at a predetermined position (such as initial) in the second actual cycle. For this reason, since the calculation of the third calculation cycle can be calculated based on data acquired up to a predetermined position (initial stage, etc.) of the second actual cycle at the latest, the third calculation cycle can be surely performed within the second actual cycle. The length of the vibration cycle (third calculation cycle) can be calculated. Conversely, by calculating backward from the time required for calculating the length of the third vibration cycle (third calculation cycle), the predetermined position is not limited to the third or even the initial period of the second actual cycle. If the calculation of the length of the vibration cycle (third calculation cycle) can be performed within the second actual cycle, the predetermined position can be set not only in the initial stage of the second actual cycle but also in the middle and final stages. Corresponding to this, the predetermined position set in the cycle is also set in the initial, middle and final stages.

  ADVANTAGE OF THE INVENTION According to this invention, even when the rotational speed of an engine is fluctuating, the transmission of vibration from the engine to the vehicle body can be suppressed, and the active vibration-proof support device and the vibration-proof control method thereof that can reduce the uncomfortable feeling given to the passenger Can provide.

1 is a perspective view of a vehicle including an active vibration isolating support device according to an embodiment of the present invention. 1 is a block diagram of a vehicle including an active vibration isolating support device according to an embodiment of the present invention. It is a flowchart of the vibration isolating control method of the active vibration isolating support device according to the embodiment of the present invention. It is a timing chart of (a) TDC pulse, (b) CRK pulse, and (c) drive current. (A) is a graph which shows the target current corresponding to 1st calculation period T11, (b) is a graph which shows the target current corresponding to 3rd calculation period T13, (c) is 3rd real period T03. It is a graph which shows the corresponding drive current.

  Next, embodiments of the present invention will be described in detail with reference to the drawings as appropriate. In each figure, common portions are denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 1, a V-type 6-cylinder engine 2 is mounted in a front portion of a vehicle V, and a transmission 3 is coupled to the engine 2. The direction in which the transmission 3 is coupled to the engine 2 is the axial direction of a crankshaft (not shown). Therefore, the engine 2 is mounted on the vehicle V so-called sideways so that the axial direction of the crankshaft (not shown) coincides with the left-right direction of the vehicle V.

  Two active vibration-proof support devices 1 are disposed along the front-rear direction at the front and rear portions of the lower portion of the engine 2. Since the vibration of the engine 2 is generated with the rotation of the crankshaft, the direction of the amplitude of the vibration is a direction in one plane with the rotation axis of the crankshaft as a normal line (front and rear vertical direction in FIG. 1). The pair of active vibration isolating support devices 1 are arranged at the front end portion and the rear end portion of the engine 2 along the front-rear direction so that the force due to such vibration acts in a direction within one plane. . One active vibration isolation support device 1 a is disposed at the front end of the lower portion of the engine 2, and the other active vibration isolation support device 1 b is disposed at the rear end of the lower portion of the engine 2.

  FIG. 2 shows a block diagram of a vehicle V including the active vibration isolating support device 1 (1a, 1b) according to the embodiment of the present invention. The active vibration isolating support device 1 (1a, 1b) includes a control device 4. The two active vibration isolating support devices 1 (1 a, 1 b) support the engine 2 with respect to the vehicle body frame 8. Each of the two active vibration isolating support devices 1 (1a, 1b) has an actuator 9, and the active vibration isolating support device 1 is expanded and contracted by the drive current output from the control device 4. (1a, 1b) expands and contracts. When the engine 2 vibrates, the distance between the engine 2 and the vehicle body frame 8 varies. The active vibration isolating support device 1 (1a, 1b) expands and contracts in accordance with the fluctuation amount, so that the active vibration isolating support device 1 (1a, 1b) transmits vibration from the engine 2 to the vehicle body frame 8. Can be suppressed.

  The engine 2 is controlled by the engine control unit 5 such as start and stop of rotation, increase and decrease of rotation speed, and the like.

  As the engine 2 rotates, that is, the crankshaft rotates, the engine 2 generates a crank pulse. The crank pulse sensor 7 detects this crank pulse and transmits it to the control device 4. The crank pulse is output at every predetermined crank angle, and is detected by the crank pulse sensor 7, for example, 60 times per revolution of the crankshaft and once every 6 ° of the crank angle.

  The engine 2 rotates the crankshaft by moving up and down pistons of a plurality of cylinders such as 6 cylinders. The engine 2 is provided with a TDC pulse sensor 6 for detecting the top dead center (TDC) when the piston is raised for each cylinder. The TDC pulse sensor 6 detects a TDC pulse generated when the piston reaches top dead center (TDC) in all the cylinders. If the engine 2 has 6 cylinders, the TDC pulse is detected by the TDC pulse sensor 6 6 times per 2 rotations of the crankshaft, that is, once every 120 ° of the crank angle. The TDC pulse sensor 6 detects this TDC pulse and transmits it to the control device 4.

  If the crank pulse is output once every 6 ° of the crank angle and the TDC pulse is output once every 120 ° of the crank angle, that is, every TDC pulse, that is, between the TDC pulses, A constant crank pulse is output and detected at 20 times.

  FIG. 3 shows a flowchart of a control method of the active vibration isolating support device 1 according to the embodiment of the present invention using the control device 4.

  First, in step S1, the control device 4 receives a TDC pulse that is output every cycle of vibration of the engine 2 and a crank (CRK) pulse that is output every predetermined crank angle (6 °). As shown in FIGS. 4A and 4B, TDC pulses are received four times, but the number of CRK pulses received between these TDC pulses is constant at 20 times. It can be understood that the rotational speed of the engine 2 is increasing because the reception interval of the TDC pulse and the CRK pulse becomes narrower as time t elapses.

  Since the vibration of the engine 2 is mainly caused by the vertical movement of the piston of each cylinder, the vibration of the engine 2 is synchronized with the TDC pulse synchronized with the vertical movement of the piston. Therefore, the vibration period of the engine 2 is the TDC pulse generation interval / reception interval. The first real cycle T01 of the vibration of the engine 2 starts from the reception of the first TDC pulse and ends by the reception of the second TDC pulse. Similarly, simultaneously with the end of the first actual period T01, the second actual period T02 of vibration of the engine 2 starts, and the second actual period T02 ends with the reception of the third TDC pulse. Simultaneously with the end of the second actual cycle T02, the third actual cycle T03 of the vibration of the engine 2 starts, and the third actual cycle T03 ends with the reception of the fourth TDC pulse.

  In step S2, the control device 4 sequentially reads and stores the first generation intervals Δt11, Δt12... Δt1n, which are all CRK pulse intervals of the CRK pulse over the first actual cycle T01 of engine vibration.

  In step S3, the control device 4 receives a TDC pulse that is the beginning of the second actual cycle T02 of engine vibration and a crank pulse that is output at the beginning of the second actual cycle T02 (corresponding to a predetermined position).

  In step S4, the control device 4 reads and stores the second generation interval Δt21 that is the CRK pulse interval of the initial (corresponding to a predetermined position) CRK pulse in the second actual cycle T02 of engine vibration. Note that the second generation interval is not limited to the second generation interval Δt21. For example, the second generation interval may be the second generation interval Δt22 next to the second generation interval Δt21, and is the sum (Δt21 + Δt22) between a plurality of second generations. There may be. In this case, in step S6, the first generation interval Δt11 in the initial (corresponding to a predetermined position) in the first calculation cycle T11 is the CRK pulse interval of the initial (corresponding to the predetermined position) CRK pulse in the second actual cycle T02. Change according to the second generation interval. For example, the second generation interval Δt22 that is the CRK pulse interval of the initial CRK pulse in the second actual cycle T02 corresponds to the initial first generation interval Δt12 in the first calculation cycle T11, and the ratio K is expressed by the equation K = T11. / Δt12. The sum of the second generation intervals (Δt21 + Δt22), which is the CRK pulse interval of the initial CRK pulse in the second actual cycle T02, corresponds to the sum of the initial first generation intervals (Δt11 + Δt12) in the first calculation cycle T11, and the ratio K is calculated by the equation K = T11 / (Δt11 + Δt12).

  In step S5, the control device 4 calculates a first calculation period T11 as a sum total of all the first generation intervals Δt11, Δt12... Δt1n over the first actual period T01. The first calculation period T11 corresponds to the calculated value of the first actual period T01. Then, by calculating the first calculation cycle T11, the first calculation cycle T11 can be grasped as the time axis O1 whose origin is the beginning of the first actual cycle T01. In steps S6 and S7, the time on the time axis O1 Will be calculated. Step S5 may be performed simultaneously with step S4.

  In step S6, the control device 4 calculates a ratio K (= T11 / Δt11) between the first calculation period T11 and the initial (corresponding to a predetermined position) first generation interval Δt11 in the first calculation period T11. Step S6 may be performed simultaneously with step S4. For example, if the number of CRK pulses received between TDC pulses is 20, and the engine 2 is rotating at a constant speed, the ratio K is 20 (K = 20), and the acceleration is not constant but accelerated. If so, the ratio K is less than 20 (K <20), and if the vehicle is decelerating, the ratio K exceeds 20 (K> 20).

  In step S7, the control device 4 calculates a target current from the vibration estimation calculation of the engine 2 corresponding to the first calculation cycle T11 and the estimated vibration. Specifically, first, the control device 4 divides a predetermined crank angle (6 °) by the first generation intervals Δt11, Δt12,... Δt1n for each first generation interval Δt11, Δt12,. The crank angular speed ω is calculated. Next, the control device 4 time-differentiates the crank angular velocity ω for each first generation interval Δt11, Δt12... Δt1n, and calculates the crank angular acceleration dω / dt. Next, the control device 4 determines that the torque Tq around the crankshaft of the engine 2 is I and the moment of inertia around the crankshaft of the engine 2 is I for each first generation interval Δt11, Δt12. * Calculated by dω / dt. This torque Tq is zero (0) 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. In addition, the crank angular acceleration dω / dt is generated even when the rotational speed of the engine 2 is increased / decreased, so that a torque Tq proportional to the combined crank angular acceleration dω / dt is generated.

  Next, the control device 4 calculates the amplitude of vibration of the engine 2 based on the torque Tq for each of the first generation intervals Δt11, Δt12,... Δt1n. Next, the control device 4 calculates the expansion / contraction length of the active vibration isolating support device 1 based on the vibration amplitude of the engine 2 at each first generation interval Δt11, Δt12,... Δt1n. Next, the control device 4 causes the target current (duty waveform thereof) to flow through the actuator 9 of the active vibration isolating support device 1 so as to realize the expansion / contraction length at each of the first generation intervals Δt11, Δt12... Δt1n. ) Is calculated and determined as shown by the solid line waveform in FIG. It can be considered that the target current indicated by the solid line in FIG. 5A is calculated with respect to the time axis O1 of the first calculation cycle T11 with the cycle being the first calculation cycle T11.

  In step S8, the control device 4 calculates the second calculation cycle T12 (= Δt21 × K) from the initial (corresponding to a predetermined position) second generation interval Δt21 and the ratio K in the second actual cycle T02. The second calculation period T12 corresponds to the calculated value of the second actual period T02. Then, by calculating the second calculation cycle T12, the second calculation cycle T12 can be grasped as the time axis O2 whose origin is the beginning of the second actual cycle T02. The second calculation cycle T12 is calculated using the ratio K, but can be substantially calculated by the equation T12 = Δt21 / Δt11 × T11. The ratio of the first generation interval Δt11 in the initial (corresponding to the predetermined position) in the first actual cycle T01 and the second generation interval Δt21 in the initial (corresponding to the predetermined position) in the second actual cycle T02 is the first calculation cycle T11 and the first This is because it is considered to be substantially equal to the ratio of the two calculation periods T12. Alternatively, step S6 may be omitted and the second calculation period T12 may be calculated using the formula T12 = Δt21 / Δt11 × T11 in step S8 without calculating the ratio K.

  In step S9, the control device 4 calculates a cycle change rate R (= T12 / T11), which is a ratio between the second calculation cycle T12 and the first calculation cycle T11. The period change rate R may be calculated using the formula R = Δt21 / Δt11. In this case, step S9 is performed before step S8, and in step S8, the second calculation period T12 can be calculated using the equation T12 = R × T11.

In step S10, the control device 4 calculates a third calculation period T13 (= R × T13) from the period change rate R and the second calculation period T12. The third calculation period T13 corresponds to the calculated value (measured value) of the third actual period T03. Then, by calculating the third calculation cycle T13, the third calculation cycle T13 can be grasped as a time axis O3 with the origin at the beginning of the third actual cycle T03 as shown in FIG. Note that the third calculation cycle T13 is calculated using the second calculation cycle T12, but can be substantially calculated by the equation T13 = (Δt21 / Δt11) ² × T11 = R ² × T11. The ratio of the first generation interval Δt11 in the initial (corresponding to the predetermined position) in the first actual cycle T01 and the second generation interval Δt21 in the initial (corresponding to the predetermined position) in the second actual cycle T02 is the first calculation cycle T11 and the first This is because it is considered to be substantially equal to the ratio of the two calculation periods T12. Further, the ratio between the first calculation period T11 and the second calculation period T12 is considered to be substantially equal to the ratio between the second calculation period T12 and the third calculation period T13. Then, without calculating steps S6 and S8, without calculating the second calculation cycle T12, in step S10, the third calculation cycle T13 is calculated using the formula T13 = (Δt21 / Δt11) ² × T11. Also good. Expression T13 = (Δt21 / Δt11) ² × T11 is an expression obtained by substituting the plurality of expressions described above, and the second calculation period T12 and the like disappear from this expression, and the second calculation period T12 However, the second calculation cycle T12 may be indirectly calculated in the calculation process using this equation, and the products are equal even if the order of multiplication is changed. Since it is self-evident, even if the second calculation cycle T12 is not calculated in the calculation process, it is considered to be substantially equivalent to calculating the second calculation cycle T12 in the calculation process.

  In step S11, the control device 4 determines that the target current corresponding to the first calculation cycle T11 (solid line in FIG. 5A) and the third calculation cycle T13 are the third as shown by the dotted line in FIG. 5A. A target current corresponding to the calculation cycle T13 is calculated. The target current indicated by the dotted line in FIG. 5A, that is, the target current in FIG. 5B, is assumed to be calculated with respect to the time axis O3 of the third calculation period T13, with the period being the third calculation period T13. be able to. Then, it can be considered that the target current that has been standardized so as to correspond to the first calculation period T11 has been re-normalized so as to correspond to the third calculation period T13.

  In step S12, the control device 4 receives a TDC pulse that is the beginning of the third actual cycle T03 of engine vibration.

  In step S13, as shown in FIG. 4 (c) and FIG. 5 (c), the control device 4 sets the third calculation period T13 after the third actual period T03 of the engine vibration next to the second actual period T02. The drive current is output so as to match the corresponding (standardized) target current. That is, the drive current is normalized corresponding to the third calculation period T13. Since the drive current standardized in the third calculation cycle T13 that substantially coincides with the third actual cycle T03 is passed, the shift of the cycle becomes slight, and the transmission of the vibration of the engine 2 can be sufficiently suppressed. The feeling of discomfort given can be reduced.

DESCRIPTION OF SYMBOLS 1, 1a, 1b Active type vibration isolating support apparatus 2 Engine 3 Transmission 4 Control apparatus 5 Engine control part 6 TDC pulse sensor 7 Crank pulse sensor 8 Body frame 9 Actuator

Claims (2)

Crank pulse based on engine rotation is measured, and using the crank pulse data belonging to the first vibration period in the engine vibration period, the target current value to be supplied to the vibration-proof actuator in the next second vibration period An active vibration isolating support device including a control device that drives and controls the actuator using the calculated target current value in the next third vibration cycle,
The controller is
Calculating the length of the first vibration period;
Among the crank pulses belonging to the first vibration cycle, the time width of the crank pulse at a predetermined position of the first vibration cycle is defined as a first pulse time width,
Of the crank pulses belonging to the second vibration cycle, the time width of the crank pulse at the predetermined position of the second vibration cycle set corresponding to the predetermined position of the first vibration cycle is the second pulse time. Width and
Using the first pulse time width, the second pulse time width, and the length of the first vibration period, the length of the second vibration period is calculated,
Using the length of the first vibration cycle and the length of the second vibration cycle, the length of the third vibration cycle is calculated,
In the second vibration cycle, a target current value to be supplied to the actuator is calculated using the calculated length of the third vibration cycle. Crank pulse based on engine rotation is measured, and using the crank pulse data belonging to the first vibration period in the engine vibration period, the target current value to be supplied to the vibration-proof actuator in the next second vibration period And a vibration isolation control method for an active vibration isolation support device including a control device that drives and controls the actuator using the calculated target current value in the next third vibration cycle,
The controller is
Calculating the length of the first vibration period;
Among the crank pulses belonging to the first vibration cycle, the time width of the crank pulse at a predetermined position of the first vibration cycle is defined as a first pulse time width,
Of the crank pulses belonging to the second vibration cycle, the time width of the crank pulse at the predetermined position of the second vibration cycle set corresponding to the predetermined position of the first vibration cycle is the second pulse time. Width and
Using the first pulse time width, the second pulse time width, and the length of the first vibration period, the length of the second vibration period is calculated,
Using the length of the first vibration cycle and the length of the second vibration cycle, the length of the third vibration cycle is calculated,
In the second vibration period, a target current value to be supplied to the actuator is calculated using the calculated length of the third vibration period.

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