JP5067555B2 - Vibration control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an efficient vibration control device capable of reducing output of a vibration control means, realizable by a small vibration control means, and capable of improving vibration control performance to noise. <P>SOLUTION: This vibration control device has a load support part 10 installed in an installation part F, a counterbalance part 30 connected to the load supply part 10 and applying a load balancing with a load, a vibration control part 20 having the vibration control means 21 for controlling vibration to the installation part F of the load support part 10, an acceleration sensor 22 detecting acceleration of the load support part 10, a noise amplitude frequency acquiring part 63 acquiring amplitude and a frequency of noise vibration, a noise cancel waveform forming part 65 forming a noise cancel waveform from an acquired signal of the noise amplitude frequency acquiring part 63, and an acceleration signal correction part 66 for imparting the noise cancel waveform to the detected signal of the acceleration sensor 22, and is characterized in that the vibration control means 21 operates based on a correction value of the acceleration signal correction part 66. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a vibration control device that suppresses or reduces vibration applied to a riding section such as a seat, particularly a riding section such as a seat installed in a moving body.

2. Description of the Related Art Conventionally, there is a seat vibration control device that suppresses vibration applied to a seat by controlling the operation of a direct-acting electric actuator under the seat according to vibration acceleration (see Patent Document 1).
JP-A-11-180202

  However, as shown in FIG. 15A, when the seat S is supported only by the actuator 121, the output of the actuator 121 is always required including the stop state. Further, as shown in FIG. 15B, when the seat S is supported by the actuator 121 and the torsion spring 122, the output of the actuator 121 can be set to 0 in the stopped state, but the vibration of the seat S is controlled. In this case, the spring force of the torsion spring 122 becomes a reaction force, and in addition to the output for vibration control, the output for the reaction force of the spring is required for the actuator 121, and a large output is required.

  In addition, since the control for noise is not performed, the control gain cannot be increased due to the noise, and the vibration damping performance is reduced due to the noise.

  The present invention solves the above-described problems, and can reduce the output of the vibration control means, can be realized by a small vibration control means, and has improved vibration suppression performance against noise, which is efficient. An object is to provide a vibration control device.

  To this end, the present invention provides a load support unit installed in an installation unit, a counter balance unit connected to the load support unit and providing a load that balances the load, and a vibration control that controls vibration of the load support unit with respect to the installation unit. A vibration control unit having means, an acceleration detection unit for detecting the acceleration of the load support unit, a noise amplitude frequency acquisition unit for acquiring the amplitude and frequency of noise vibration, and noise from the signal acquired by the noise amplitude frequency acquisition unit A noise canceling waveform forming unit that forms a canceling waveform; and an acceleration signal correcting unit that adds the noise canceling waveform to a signal detected by the acceleration detecting unit, wherein the vibration control unit corrects the acceleration signal correcting unit. Operates based on value.

  The load supporting unit may include first guide means for moving the load supporting unit relative to the installation unit.

  Moreover, it has 2nd guide means to move the said counter balance part relatively with respect to the said load support part, It is characterized by the above-mentioned.

  Further, an urging means supported at one end by the installation part, a fulcrum is pivotally supported by the installation part, one end is connected to the first guide means, and the other end is connected to the other end of the urging means. It is characterized by comprising a balance part and adjusting means for changing the length of the balance part.

  In addition, a detection unit that detects a state on the load support unit is provided, and a control unit that operates the adjustment unit according to the state detected by the detection unit is provided.

  In addition, the acceleration signal correction unit applies the noise cancellation waveform only when the frequency of noise vibration is equal to or higher than a first threshold value.

  In addition, the acceleration signal correction unit may add a waveform to the noise cancellation only when the frequency of the noise vibration is equal to or higher than a first threshold and the amplitude of the noise vibration is equal to or higher than a second threshold. .

  According to the first aspect of the present invention, the load support unit installed in the installation unit, the counter balance unit connected to the load support unit and providing a load that balances the load, and the vibration of the load support unit with respect to the installation unit. A vibration control unit having a vibration control unit for controlling, an acceleration detection unit for detecting the acceleration of the load support unit, a noise amplitude frequency acquisition unit for acquiring the amplitude and frequency of noise vibration, and acquisition of the noise amplitude frequency acquisition unit A noise canceling waveform forming unit that forms a noise canceling waveform from the processed signal, and an acceleration signal correcting unit that gives the noise canceling waveform to the signal detected by the acceleration detecting unit, wherein the vibration control unit includes the acceleration signal Since it operates based on the correction value of the correction unit, the output of the vibration control means can be reduced, and can be realized with a small vibration control means. , The damping performance is improved with respect to noise, it is possible to provide an efficient vibration control device.

  According to the second aspect of the present invention, since the load support portion has the first guide means that moves relative to the installation portion, the load support member can be prevented from moving in the horizontal direction.

  According to the third aspect of the present invention, since the counter balance portion has the second guide means that moves relative to the load support portion, it is not necessary to move the counter balance portion.

  According to the fourth aspect of the present invention, the biasing means supported at one end by the installation portion, the fulcrum is pivotally supported by the installation portion, the one end is connected to the first guide means, and the other end is biased. Since the balance portion connected to the other end of the means and the adjustment means for changing the length of the balance portion are provided, it is not necessary to apply a heavy object such as a counterweight.

  According to the fifth aspect of the present invention, since the detecting means for detecting the load on the load supporting member is provided, and the control means for operating the adjusting means in accordance with the load detected by the detecting means, the initial load is provided. Can respond appropriately to changes in

  According to the sixth aspect of the present invention, since the acceleration signal correction unit provides the noise cancellation waveform only when the frequency of noise vibration is equal to or higher than the first threshold value, efficient control can be performed.

  According to a seventh aspect of the present invention, the acceleration signal correction section is configured such that the noise cancellation has a waveform only when the frequency of the noise vibration is equal to or higher than the first threshold and the amplitude of the noise vibration is equal to or higher than the second threshold. Therefore, more efficient control can be performed.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows a vibration control device 1 according to this embodiment. In the figure, 1 is a vibration control device, 10 is a load support portion, 11 is a load support member, S is a seat, 20 is a vibration control portion, 21 is a vibration control actuator as an example of vibration control means, and 22 is acceleration detection means. , 24 is a load sensor as load detecting means, 30 is a counter balance part, 31 is a second slider support part as an example of a second moving means support part, and 32 is a preload adjustment as an example of an adjustment means. Actuator, 33 torsion spring, 40 first guide means, 41 first slider rail, 42 first slider, 50 second guide means, 51 second slider rail, 52 second slider, F installed Part.

  The vibration control device 1 is installed on the installation unit F such as a floor by the load support unit 10, and the vibration control unit 20 actively controls the vibration of the load such as the seat S on the vibration control device 1 and the counter balance unit 30. The balance of force against the load is set.

  The load support unit 10 includes, for example, a seat S and a load support member 11 that supports the seat S. The load support member 11 is installed below the seat S and is placed on the vibration control unit 20 and the counter balance unit 30. The seat may be placed directly on the vibration control unit 20 and the counter balance unit 30.

  The vibration control unit 20 includes, for example, a vibration control actuator 21 such as a voice coil motor, an acceleration sensor 22, a load sensor 24, and the like. The vibration control actuator 21 has its lower part installed in the installation part F and its upper part in contact with the load support member 11, and is controlled to be vertically extendable by a signal from the acceleration sensor 22 or the like. The acceleration sensor 22 detects the acceleration of the load support unit 10 and is placed on the load support unit 10. The load sensor 24 detects a load on the load support unit 10. The load sensor 24 is not necessarily provided if the acceleration sensor 22 is provided.

  The counter balance unit 30 includes, for example, a balance unit 31, a preload adjustment actuator 32, a spring 33, and the like.

  The balance part 31 has a fulcrum 31a at the installation part F, and one end side 31b is rotatably connected to the second slider 52 and the other end side 31c is pivotally connected to the spring 33 via the preload adjusting actuator 32.

  The preload adjusting actuator 32 has a variable length, one end is connected to the balance 31, the other end is fixed to the spring 33, and can be expanded and contracted by signals from the acceleration sensor 22 and the load sensor 24. Controlled. The spring 33 has one end fixed to the preload adjusting actuator 32 and the other end fixed to the installation portion F.

  The first guide means 40 includes, for example, a first slider rail 41 installed in the installation part F and a first slider 42 provided in the load support member 11, and the load support part 10 is located with respect to the installation part F. Relative movement. The 1st slider rail 41 is installed in the installation part F, and guides the 1st slider 42 and the load support member 11 to an up-down direction. The first slider 42 is provided on the load support member 11 and is guided in the vertical direction by the first slider rail 41.

  The second guide means 50 includes, for example, a second slider rail 51 installed on the load support member 11 and a second slider 52 connected to one end of the balance unit 33, and the counter balance unit 30 is connected to the load support unit 10. The relative movement is made. The 2nd slider rail 51 is installed in the load support member 11, and guides the 2nd slider 52 so that a movement is possible. The second slider 52 is connected to one end of the balance portion 31, guided by the second slider rail 51, and movable with respect to the load support member 11.

  FIG. 2 shows a block diagram of the vibration control apparatus 1 having such a structure. An input signal from the acceleration sensor 22 or the like is input to the ECU 60 as a control unit, and the vibration control actuator 21 is controlled to actively control vibration. Input signals such as the acceleration sensor 22 and the load sensor 24 are input to the ECU 60 as control means, and the preload adjusting actuator 32 is controlled.

  Next, preload adjustment control will be described. FIG. 3 shows a flowchart of the preload adjustment control. First, in step 1, the load on the load support unit 10 is detected by the acceleration sensor 22 or the load sensor 24 (ST1). Next, in step 2, the detected load value for a certain time is read into the ECU 60 (ST2). Subsequently, in step 3, for example, an average value is calculated from the load values for a certain period of time to calculate a reference load value (ST3). Next, in step 4, the preload adjusting actuator 32 is controlled to operate according to the calculated reference load value (ST4).

  FIG. 4 shows the state of the vibration control device 1 of this embodiment before and after the preload adjustment control. FIG. 4A shows the state before the preload adjustment control, and FIG. 4B shows the state after the preload adjustment control. It is. From the state before the preload adjustment control shown in FIG. 4A, for example, when the occupant P sits on the seat S and the load of the occupant P is added to the initial load, the balance unit 31 of the counter balance unit 30 is counterclockwise. It rotates and a load is applied to the spring 33. Therefore, as shown in FIG. 4B, the preload adjusting actuator 32 is operated to change the length of the balance portion 31, thereby balancing the load and the load by the spring 33.

  Thus, by operating the preload adjusting actuator 32, the load is canceled, and vibration control can be performed from that state.

  Next, the vibration control of this embodiment will be described. FIG. 5 shows a flowchart of vibration control. First, in step 11, the acceleration of the load support unit 10 during vibration is detected by the acceleration sensor 22 (ST11). Next, in step 12, the ECU 60 calculates the thrust of the vibration control actuator 21 (ST12). The thrust calculation is executed, for example, by storing a calculation formula such as acceleration × friction × gain × (−1) or a thrust value corresponding to the acceleration in advance. Here, the gain in the calculation formula represents the control delay, and -1 represents the reversal of the direction. Subsequently, in step 13, the thrust calculated in step 12 is instructed to the vibration control actuator 21.

  6A and 6B show a state of vibration control according to the present embodiment. FIG. 6A shows a state where the damping actuator 21 is contracted, and FIG. 6B shows a state where the damping actuator 21 is extended. Is.

  FIG. 6A shows a case where the detected load value corresponding to step 14 is larger than the reference load value obtained by the preload adjustment control. When the damping actuator 21 is contracted to reduce the vibration on the seat S to 0, While the 2nd slider 52 moves ahead, the balance part 31 of the counter balance part 30 rotates counterclockwise. At this time, the spring 33 extends, but the load and the load by the spring 33 can be kept in a substantially balanced state.

  FIG. 6B shows a case where the detected load value corresponding to step 15 is smaller than the reference load value obtained by the preload adjustment control. When the vibration control actuator 21 is extended to make the vibration on the seat S zero, While the 2nd slider 52 moves back, the balance part 31 of the counter balance part 30 rotates clockwise. At this time, the spring 33 contracts, but the load and the load by the spring 33 can be kept in a substantially balanced state.

  FIG. 7 shows the result of comparing the case of using the vibration control device 1 of the present embodiment and the case of the prior art shown in FIG. 11 by simulation. In the simulation, an actuator for vibration suppression necessary for reducing the vibration of the load to 0 under the condition of traveling on a wavy path with an amplitude of 25 mm and a period of 750 mm at a speed of 70 km / h was obtained.

  FIG. 7A shows the case where the seat is supported only by the actuator as shown in FIG. 15A. FIG. 7B shows the case where the seat is supported by the actuator as shown in FIG. 15B. In the case of using a spring, FIG. 7C shows the case of this embodiment.

  As described above, the vibration control device 1 of the present embodiment can reduce the output of the actuator, and is efficient that can be realized with a small actuator.

  Next, noise vibration reduction control in this embodiment will be described.

  For example, when the vibration control device is used in a vehicle or the like equipped with an engine, if an acceleration signal is acquired when controlling the vibration, the engine vibration is included and measured.

  FIG. 8 is a ride comfort diagram showing human unpleasant frequencies. It has been found that humans feel uncomfortable with vibrations of 4-8 Hz, which is the resonance frequency of the stomach. For this reason, the target region for controlling vibration is generally a region of 4 to 8 Hz that is uncomfortable for humans.

  On the other hand, for example, the engine vibration frequency of a four-cylinder four-cycle engine with an idle speed of about 810 rpm is 27 Hz or more. For this reason, the engine vibration deviates from the control target area and is measured as noise.

  FIG. 9 is a waveform diagram of vibration during idling (low rotation), and FIG. 10 is a waveform diagram of vibration during accelerator ON (high rotation). As shown in FIGS. 9 and 10, the frequency and amplitude of the engine vibration depend on the rotational speed. The amplitude at the time of low rotation is large, and the amplitude at the time of high rotation is negligible. Therefore, in the present embodiment, control is performed to reduce engine vibration in a region during low engine rotation.

  FIG. 11 is a diagram illustrating a configuration related to engine vibration reduction control as an example of noise vibration reduction control.

  The ECU 60 stores a clock tuning unit 61 for tuning with the vehicle ECU 70, an acceleration signal acquisition unit 62 for acquiring a signal from the acceleration sensor 22, and a noise amplitude and frequency map for the engine speed as shown in FIG. The noise amplitude frequency acquisition unit 63, the noise phase calculation unit 64 that calculates the phase of the noise, the noise cancellation waveform addition unit 65 that applies the noise cancellation waveform, and the acceleration value acquired by the acceleration signal acquisition unit 62 are subjected to noise cancellation. An acceleration signal correcting unit 66 that corrects the signal from the waveform applying unit 65, a damping actuator output calculating unit 67 that calculates the output of the damping actuator 21, a damping actuator thrust output unit 68 that outputs the thrust of the damping actuator, and Have

  Further, the vehicle ECU 70 includes a clock transmission unit 71 that transmits a clock signal to the clock tuning unit 61 of the ECU 60, an engine speed information transmission unit 72 that transmits the engine rotation number to the noise amplitude frequency acquisition unit 63, and a noise phase calculation unit. 64 has an engine ignition signal transmitter 73 for transmitting an engine ignition signal.

  FIG. 13 is a diagram illustrating a flowchart of engine vibration reduction control as an example of noise vibration reduction control. First, at step 21, a clock signal is transmitted from the clock transmission unit 71 of the vehicle ECU 70 to the clock tuning unit 61 of the ECU 60, and the ECU 60 and the vehicle ECU 70 are synchronized (ST21). Subsequently, at step 22, the engine speed information is acquired from the engine speed information transmitter 72 of the vehicle ECU 70 (ST22). Next, in step 23, the acquired engine speed information is collated with a map of noise amplitude and frequency with respect to the engine speed stored in the noise amplitude frequency acquisition unit 63, and the noise amplitude and frequency are acquired (ST23). Note that the noise amplitude and frequency with respect to the engine speed may be obtained by calculation.

  Next, in step 24, it is determined whether the number of revolutions obtained in step 23 is equal to or smaller than a first threshold and whether the noise amplitude is equal to or larger than a second threshold (ST24).

  When the first threshold value and the second threshold value are compared in terms of frequency, the frequency of the first threshold value is set to be smaller than the frequency corresponding to the second threshold value. The determination made in step 24 is performed to determine whether or not to perform noise cancellation. The state where the noise frequency is a frequency equal to or higher than the first threshold is a case where the engine vibration is equal to or higher than the control target frequency, which is a noise frequency felt by the human body, when the engine idling speed is equal to or higher than the first threshold. Represents. On the other hand, the state where the noise amplitude is greater than or equal to the second threshold represents a case where high-frequency noise is generated and a transmission phase to the cabin is generated, which is difficult to predict, and can be ignored if the amplitude is small. In other words, it represents a case where the engine is rotating at a frequency higher than the noise frequency felt by the human body so that the noise can be ignored.

  In step 24, it is determined whether or not the engine speed is equal to or lower than the first threshold value, that is, whether or not noise cancellation is performed by determining that the engine speed is equal to or higher than the control target frequency. Also good. This is because the frequency that a person feels on the body can be prevented only by doing so. Further, by adding a case where the noise amplitude is equal to or smaller than the second threshold to the determination, unnecessary noise cancellation is not performed, so that controllability is improved and unnecessary control can be performed. This eliminates the need for efficient control.

  Next, when it is determined in step 24 that the threshold value is not more than the threshold value, in step 25, the noise phase calculation unit 64 calculates the antiphase of the engine vibration in accordance with the timing acquired from the engine ignition signal oscillating unit 73, and the noise cancellation waveform applying unit The noise cancellation signal acquired from 65 is added to the signal acquired from the acceleration sensor 22 by the acceleration signal correction unit 66 and output (ST25).

  If it is determined in step 24 that the value is larger than the threshold value, in step 26, the noise is not canceled and output (ST26).

  FIG. 14 is a diagram showing the control timing. Even if the synchronous clock is turned on, if the engine speed is larger than the threshold value, the reverse phase is not given, but if the synchronous clock is turned on and the engine speed is less than the threshold value, the reverse phase is given.

  Finally, in step 27, an output is calculated by the damping actuator output calculation unit 67 based on the output value obtained in step 25 or 26, and the damping actuator 21 is operated by the damping actuator thrust output unit 68 (ST27). ).

  Thus, according to the present embodiment, the load support unit 10 installed in the installation unit F, the counter balance unit 30 connected to the load support unit 10 and providing a load that balances the load, and the installation unit of the load support unit 10 A vibration control unit 20 having a vibration control means 21 for controlling vibration with respect to F, an acceleration sensor 22 for detecting the acceleration of the load support unit 10, a noise amplitude frequency acquisition unit 63 for acquiring the amplitude and frequency of noise vibration, and noise A noise canceling waveform forming unit 65 that forms a noise canceling waveform from the signal acquired by the amplitude frequency acquiring unit 63; and an acceleration signal correcting unit 66 that applies the noise canceling waveform to the signal detected by the acceleration sensor 22; Since the means 21 operates based on the correction value of the acceleration signal correction unit 66, the output of the vibration control means 21 can be reduced, It is possible to realize a vibration control means 21 of the mold, damping performance is improved with respect to noise, it is possible to provide an efficient vibration control apparatus 1.

  Moreover, since the load support part 10 has the 1st guide means 40 which moves relatively with respect to the installation part F, it can prevent the load support member 11 from moving to a horizontal direction.

  Further, since the counter balance unit 30 includes the second guide means 50 that moves relative to the load support unit 10, it is not necessary to move the counter balance unit 30.

  Further, a spring 33 supported at one end by the installation portion F, and a balance portion pivotally supported by the installation portion F, connected at one end to the first guide means 40, and connected at the other end to the other end of the spring 33. 31 and the preload adjusting actuator 32 that changes the length of the balance portion 31 are provided, so that it is not necessary to apply heavy objects such as a counterweight.

  Further, since the acceleration sensor 22 or the load sensor 24 for detecting the load on the load support member 11 is provided and the ECU 60 for operating the preload adjustment actuator 32 according to the load detected by the acceleration sensor 22 or the load sensor 24 is provided. It is possible to appropriately respond to changes in the initial load.

  The acceleration signal correcting unit 66 applies the noise cancellation waveform only when the frequency of the noise vibration is equal to or higher than the first threshold, and applies the noise cancellation waveform when the frequency of the noise vibration is the control target frequency. Furthermore, it is determined that the amplitude of the noise amplitude is equal to or higher than the second threshold (the frequency of the noise vibration is equal to or lower than the frequency corresponding to the second threshold), and a noise cancellation waveform is added, so that efficient control is performed. be able to.

It is a figure which shows the vibration control apparatus of 1st Embodiment. It is the block diagram which showed the system configuration | structure of the vibration control apparatus. It is a figure which shows the flowchart of preload adjustment control. It is a figure which shows the state of the vibration control apparatus at the time of preload adjustment control. It is a figure which shows the flowchart of vibration control. It is a figure which shows the state of the vibration control apparatus at the time of vibration control. It is a figure which shows the simulation which compared the vibration control apparatus of this embodiment, and the prior art. It is a ride comfort diagram which shows a human unpleasant frequency. It is a wave form diagram of vibration at the time of idling (low rotation). It is a wave form diagram of vibration at the time of accelerator ON (high rotation). It is the figure which showed the structure relevant to noise vibration reduction control. Map of noise amplitude and frequency against engine speed It is a figure which shows the flowchart of engine vibration reduction control. It is a figure which shows a control timing. It is a figure which shows the prior art.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vibration control apparatus, 10 ... Load support part, 11 ... Load support member, 20 ... Vibration control part, 21 ... Vibration control actuator (vibration control means), 22 ... Acceleration sensor (acceleration detection means, detection means), 24 DESCRIPTION OF SYMBOLS ... Load sensor (detection means), 30 ... Counter balance part, 31 ... Balance part, 32 ... Preload adjustment actuator (adjustment means), 33 ... Spring (biasing means), 40 ... First guide means, 41 ... First Slider rail, 12 ... first slider, 50 ... second guide means, 51 ... second slider rail, 52 ... second slider, 60 ... ECU (control means), 61 ... clock tuning unit, 62 ... acceleration signal acquisition unit, 63 ... Noise amplitude frequency acquisition unit, 64 ... Noise phase calculation unit, 65 ... Noise cancellation waveform applying unit, 66 ... Acceleration signal correction unit, 67 ... Damping actuator output calculation unit 68 ... vibration actuator thrust output unit, 70 ... vehicle ECU, 71 ... clock transmitting unit, 72 ... engine speed information transmission unit, 73 ... engine ignition signal generation unit

Claims (7)

A load support section installed in the installation section;
A counter balance unit connected to the load support unit to provide a load balanced with the load;
A vibration control unit having vibration control means for controlling vibration of the load support unit with respect to the installation unit;
An acceleration detecting means for detecting an acceleration of the load supporting portion;
A noise amplitude frequency acquisition unit for acquiring the amplitude and frequency of noise vibration;
A noise cancellation waveform forming unit that forms a noise cancellation waveform from the signal acquired by the noise amplitude frequency acquisition unit;
An acceleration signal correction unit that gives the noise cancellation waveform to the signal detected by the acceleration detection means,
The vibration control device operates based on a correction value of the acceleration signal correction unit.   The vibration control apparatus according to claim 1, further comprising first guide means for moving the load support portion relative to the installation portion.   The vibration control device according to claim 1, further comprising a second guide unit that moves the counter balance unit relative to the load support unit.   An urging means supported at one end by the installation part, a balance part pivotally supported by the installation part, one end connected to the first guide means, and the other end connected to the other end of the urging means 4. The vibration control device according to claim 1, further comprising an adjusting unit configured to change a length of the balance unit. 5.   The vibration control apparatus according to claim 4, further comprising a detection unit that detects a state on the load support unit, and a control unit that operates the adjustment unit according to the state detected by the detection unit. .   The vibration control apparatus according to claim 1, wherein the acceleration signal correction unit applies the noise cancellation waveform only when a frequency of noise vibration is equal to or higher than a first threshold value.   The acceleration signal correcting unit adds a waveform to the noise cancellation only when the frequency of the noise vibration is equal to or higher than a first threshold and the amplitude of the noise vibration is equal to or higher than a second threshold. 6. The vibration control device according to 6.

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