JP6637840B2 - Active vibration suppression device - Google Patents

Description

  The present invention relates to an active vibration damping device.

  Patent Document 1 discloses a method of generating a vibration-damping signal for each mode by performing modal filtering on a detection value of a sensor that detects vibration of the surface material with respect to a surface material having a plurality of vibration modes. Is described.

  Patent Literature 2 describes that an actuator is controlled such that an integral value of a displacement position of a structure and a displacement position of a movable mass change in the same phase. Patent Literature 3 discloses that a DVFB (Direct Velocity Feedback) or an optimal regulator is used as a controller of a mass adding type active vibration damping device.

  Patent Literature 4 describes that a vibration waveform of a floor vibration is predicted based on a floor vibration detected by a vibration detection sensor, and a vibration generator vibrates the floor according to a command of an anti-phase vibration that cancels the vibration waveform. Have been. Patent Literature 5 discloses that a vibration having the same frequency and the opposite phase as the vibration generated in a vibration damping object is given to the vibration damping object according to a detection signal of a sensor that detects the vibration of the vibration damping object. Is described.

JP 2015-175405 A JP-A-6-17559 Japanese Patent No. 3040303 JP-A-7-3933 JP 2009-114821 A

  In order to control the object to be damped, it is important that the vibration generated by the actuator has an opposite phase to the vibration of the object to be damped. However, the vibration generated by the actuator may not be the desired vibration due to a phase shift occurring when the control device generates the control signal from the input signal and a phase shift between the control signal and the vibration generated by the actuator. Therefore, the conventional vibration damping device may not be able to obtain a sufficient vibration damping effect.

  The present invention is intended to control a face material or a beam material having a plurality of vibration modes (hereinafter, also referred to as modes) as vibration damping targets, and to make the vibration of each mode generated by the actuator coincide with a desired phase. An object of the present invention is to provide an active vibration damping device capable of adjusting a phase of a control signal.

  An active vibration damping device according to the present invention includes an actuator that applies vibration to a vibration damping target, a control device that outputs a periodic control signal to the actuator, and a state signal that is correlated with a vibration force by the actuator. And a plurality of control sensors for detecting the vibration of the vibration damping target.

  A control unit configured to perform a modal filtering based on the detection values of the plurality of control sensors to obtain a mode-specific vibration; and A target generation unit for each mode that generates a target control signal corresponding to the above, an adjustment signal generation unit for each mode that generates a phase adjustment signal corresponding to an integral value or a differential value of the target control signal for each mode, A mode control signal generating unit that generates a mode control signal by performing a predetermined adjustment process on the target control signal and the phase adjustment signal, and generates the control signal based on the mode control signal. An integrated control signal generation unit.

  Further, the control device, when outputting a first control signal to the actuator, a signal acquisition unit that acquires a first state signal detected by the setting sensor, the first control signal and the first state signal And a processing determining unit that determines the predetermined adjustment processing based on the difference.

  The mode-specific control signal generation unit of the control device uses the target control signal and the phase adjustment signal for each mode, and performs a predetermined adjustment process on the target control signal and the phase adjustment signal, thereby controlling the mode-specific control signal. Has been generated. Therefore, since the control device has the phase adjustment function, the generated control signal for each mode can be matched with a desired phase. Then, the phase adjustment signal corresponds to an integral value or a differential value of the target control signal. Therefore, generation of the phase adjustment signal is easy.

  Further, the control device includes a signal acquisition unit, a difference calculation unit, and a process determination unit. With these configurations, the predetermined adjustment process executed by the mode-specific control signal generation unit can be easily determined. In particular, since the phase adjustment signal is a signal corresponding to an integral value or a differential value of the target control signal, the processing determination unit can easily and reliably determine the predetermined adjustment processing. The determined predetermined adjustment process is a process that takes into account the phase shift that occurs when the control device generates the control signal for each mode from the target control signal, and the phase shift that occurs between the control signal and the actuator. As a result, the vibration of each mode generated by the actuator can be matched with a desired phase, and the vibration damping effect can be reliably exhibited.

It is a figure showing composition of an active vibration control device. 5 is a graph showing frequency characteristics of detection values of a control sensor, showing vibration acceleration of a vibration damping target with respect to frequency. It is a figure showing composition of a control device of a first embodiment at the time of vibration control. FIG. 4 is a diagram illustrating a detailed configuration of each mode processing unit in FIG. 3. FIG. 3 is a diagram illustrating a configuration of a control device at the time of setting. FIG. 6 is a diagram illustrating a relationship between signals in a setting process of coefficients β and γ. It is a figure showing composition of a control device of a second embodiment at the time of vibration control. It is a figure showing composition of a control device of a third embodiment at the time of vibration control. It is a figure showing composition of one mode of a control device of a third embodiment at the time of vibration control.

<First embodiment>
(1-1. Configuration of active vibration damping device 1)
The configuration of the active vibration damping device 1 will be described with reference to FIG. The vibration damping target 2 by the active vibration damping device 1 is, for example, a face material or a beam material, and is a member having a plurality of vibration modes. In the present embodiment, as shown in FIG. 1, the vibration damping target 2 is exemplified by a face material such as lightweight cellular concrete (ALC). Both ends of the face material as the vibration damping target 2 are simply supported, and are flexibly deformed.

  The active vibration damping device 1 includes an actuator 10 (also described as Act), a plurality of control sensors 21-25, a setting sensor 30, a control device 40, and an amplifier circuit 50 (also described as Amp). The actuator 10 is attached to the vibration damping target 2 and applies vibration to the vibration damping target 2. Various configurations can be applied to the actuator 10 as long as the configuration generates vibration.

  In the present embodiment, the actuator 10 includes a spring element 11, a mass 12, and a driving device 13. Various materials such as a metal spring and an elastomer can be applied to the spring element 11. The mass 12 is attached to the spring element 11 and vibrates with respect to the damping target 2. Then, the vibration is applied to the vibration damping target 2 by the vibration of the mass 12 and the elastic deformation of the spring element 11. The driving device 13 actively vibrates the mass 12. As the driving device 13, for example, a solenoid or a voice coil can be applied.

  The control sensors 21-25 are arranged on the vibration damping target 2, respectively, and detect the vibration at the position. The control sensor 21-25 detects the vibration of the damping target 2 when performing the vibration suppression control by the actuator 10. That is, the vibration detected by the control sensor 21-25 is used for controlling the actuator 10. The control sensor 21-25 is a sensor that detects any one of the vibration acceleration, the vibration speed, and the vibration displacement of the vibration damping target 2. In the present embodiment, a sensor that detects the vibration acceleration of the vibration damping target 2 is used as the control sensor 21-25.

  Here, the control sensor 21-25 is arranged at the position of the vibration damping target 2 determined based on the phase difference between the plurality of complex eigenmode vector components and the orthogonality evaluation value of the plurality of complex eigenmode vectors. You. That is, the control sensors 21-25 have a small phase difference and have substantially orthogonality. The method of determining the arrangement of the control sensors 21-25 is described in JP-A-2015-175405.

  The setting sensor 30 is a sensor used for setting processing of the control device 40. That is, the setting sensor 30 is not a sensor used for vibration suppression control. The setting sensor 30 detects a state signal that is correlated with the exciting force of the actuator 10. The state signal correlated with the exciting force is any one of the acceleration, velocity, and displacement of the mass 12 or the exciting force itself by the actuator 10. That is, as the setting sensor 30, an acceleration sensor, a speed sensor, a displacement sensor, a load sensor, or the like can be appropriately applied.

  The control device 40 outputs a periodic control signal to the actuator 10. When performing the vibration suppression control of the vibration suppression target 2, the control device 40 generates a control signal by inputting a detection value of the control sensor 21-25. On the other hand, the control device 40 inputs a detection value of the setting sensor 30 when setting the control device 40 itself. The control signal generation process by the control device 40 and the setting process of the control device 40 itself will be described later. The amplification circuit 50 amplifies the control signal output by the control device 40 and supplies driving power to the driving device 13 of the actuator 10.

(1-2. Detection value of control sensor 21-25)
When the vibration suppression target 2 vibrates, the detection value of the control sensor 21-25 has a frequency characteristic as shown in FIG. As can be seen from FIG. 2, the vibration damping target 2 has a plurality of vibration modes. The resonance frequency of the first mode is about 50 Hz, the resonance frequency of the second mode is about 100 Hz, the resonance frequency of the third mode is about 150 Hz, the resonance frequency of the fourth mode is about 180 Hz, and the fifth mode The resonance frequency of the mode is about 210 Hz, and the resonance frequency of the sixth mode is about 220 Hz. The damping target 2 further has a seventh or higher order vibration mode. In the present embodiment, the active vibration damping device 1 sets the first to fifth-order vibration modes indicated by the broken-line circles in FIG. Of course, the active vibration damping device 1 can also set a higher-order vibration mode as a mode to be damped.

(1-3. Configuration of control device 40 during vibration suppression control)
The configuration of the control device 40 during the vibration suppression control will be described with reference to FIGS. The control device 40 generates a control signal for each mode by performing modal filtering based on the detection value of the control sensor 21-25, and generates a control signal based on the control signal for each mode. As shown in FIG. 3, the control device 40 includes a mode decomposing unit 41, a mode-specific processing unit 42, and an integrated control signal generating unit 43.

  The mode decomposing unit 41 receives the detection value of the control sensor 21-25, and performs modal filtering based on the detection value to acquire the vibration for each mode. In the present embodiment, the mode decomposition unit 41 acquires the vibration acceleration in the first to fifth modes as the vibration for each mode. Here, the detection values of the control sensors 21-25 have a small phase difference and substantially orthogonality as described above. Therefore, the mode decomposition section 41 can reliably perform modal filtering using the detection values of the plurality of control sensors 21-25.

  The per-mode processing unit 42 generates a per-mode control signal based on the per-mode vibration. Here, the mode-specific processing unit 42 includes primary to quintic mode processing units 42a to 42e as shown in FIG. 3 in order to perform processing for each mode. For example, the primary mode processing unit 42a generates a control signal corresponding to the primary mode based on the primary mode vibration acceleration obtained by the mode decomposition unit 41.

  The integrated control signal generator 43 generates a control signal based on the plurality of mode control signals generated by the mode processor 42. That is, the integrated control signal generation unit 43 generates a control signal by integrating, ie, adding, a plurality of control signals for each mode.

  The details of the mode-specific processing unit 42 will be described with reference to FIG. Each of the first to fifth-order mode processing units 42a to 42 includes a target generation unit 101 for each mode, an adjustment signal generation unit 102 for each mode, and a control signal generation unit 103 for each mode.

Each mode target generator 101, for each mode, and generates a target control signal Y ₁ corresponding to the excitation force by the actuator 10. For example, each mode target generator 101 in the primary mode processing unit 42a generates a target control signal Y ₁ of the first-order mode. Here, the target control signal Y ₁ is a periodic signal, and is a target value of the acceleration of the mass 12.

Each mode target generator 101 includes an input section 101a for inputting each mode vibration obtained by mode decomposition unit 41, an integrator 101b, which integrates the inputted mode every oscillating signal for generating a target control signal Y ₁ Prepare. Since the control sensor 21-25 is an acceleration sensor, the control sensor 21-25 detects the vibration acceleration of the vibration damping target 2. That is, in the present embodiment, the target control signal Y _1, in each mode, signals corresponding to one integral value of vibration acceleration signals of the vibration damping target 2, i.e., corresponding to the vibration velocity of the vibration control object 2.

Each mode adjustment signal generating unit 102, for each mode, and generates a phase adjustment signal Y _a for performing phase adjustment with respect to the target control signal Y _1. For example, each mode adjustment signal generating unit 102 in the primary mode processing unit 42a generates a phase adjustment signal Y _a primary mode. In the present embodiment, each mode adjustment signal generating unit 102 includes an integrator 102a for generating a phase adjustment signal Y _a by integrating the target control signal Y _1. That is, the phase adjustment signal Y _a is equivalent to a velocity component of the mass 12. Then, the phase adjustment signal Y _a are the target control signal Y ₁ integrated signal and the signal of the phase shift of 90 ° with respect to the target control signal Y _1.

Each mode control signal generation unit 103, for each mode, and generates a mode for each control signal Y ₂ by the adjustment process is performed with respect to the target control signal Y ₁ and the phase adjustment signal Y _a. For example, each mode control signal generation unit 103 in the primary mode processing unit 42a generates the control signal Y ₂ of the first-order mode. The mode-specific control signal generator 103 includes a multiplier 103a for the coefficient β, a multiplier 103b for the coefficient γ, and an output unit 103c. Multiplier 103a coefficient β is multiplied by a coefficient β with respect to the target control signal Y _1. Multiplier 103b coefficient γ multiplies the coefficient γ to the phase adjustment signal Y _a. The output unit 103c generates the sum of the output signal of the multiplier 103a of the coefficient β and the output signal of the multiplier 103b of the coefficient γ, and outputs the sum to the integrated control signal generation unit 43.

That is, each mode control signal _{Y 2} is represented by the formula (1). The adjusting process by each mode control signal generation unit 103, for each mode, multiplied by a coefficient β to the target control signal Y _1, as well as multiplied by the coefficient γ to the phase adjustment signal Y _a, a process of adding them. In other words, the adjustment process, by adjusting the proportion of the target control signal Y ₁ and the phase adjustment signal Y _a, a process of adding them. In other words, the adjustment process corresponds to the process of changing the phase target control signal Y _1. The larger the proportion of the phase adjustment signal Y _a, the amount of change in the phase of the target control signal Y ₁ becomes large.

  Here, the coefficients β and γ are set to different values for each mode. That is, the coefficients β and γ in the mode-specific control signal generation unit 103 of the primary mode processing unit 42a and the coefficients β and γ in the mode-specific control signal generation unit 103 of the secondary mode processing unit 42b are set to different values. You.

(1-4. Function of Control Device 40 at Setting)
Next, the configuration of the control device 40 at the time of setting will be described with reference to FIGS. The control device 40 performs a setting process of the coefficient β and the coefficient γ in the control signal generation unit 103 for each mode. The control device 40 includes a first control signal generation unit 44, a first state signal acquisition unit 45, a difference calculation unit 46, a reference target signal generation unit 47, a processing determination unit 48, and a mode-specific processing unit 42 (also shown in FIG. 3). ).

First control signal generating unit 44, for each mode, to generate a first control signal Y _3, which is arbitrarily set. First control signal _{Y 3} is represented by the formula (2). The angular frequency ω is set to a value corresponding to each mode. First control signal Y _3, for example, a sine wave, and no signal phase component. The first control signal generating unit 44, for each mode, and outputs a first control signal Y _3, the actuator 10 through the amplifier circuit 50.

Here, the actuator 10 the first control signal Y ₃ is outputted, vibrated. Then, the setting sensor 30 detects, for each mode, the first state signal Y ₄ correlated with the excitation force by the actuator 10, that is, the first state signal Y ₄ as the acceleration of the mass 12. Then, the first state signal acquiring unit 45, for each mode, the first control signal Y ₃ is in when it is output to the actuator 10, and acquires the first status signal Y ₄ detected by the setting sensor 30. First state signal _{Y 4} is represented by the formula (3).

Differences calculation section 46, for each mode, and calculates the amplitudes and the difference of the phase of the first control signal Y ₃ and the first state signal Y _4. That is, as shown in the upper part of FIG. 6, the first state signal Y _4, to the first control signal Y _3, the amplitude becomes (Q / P) times, the phase is shifted by (+ phi).

Reference target signal generating unit 47, for each mode, to generate a desired reference target control signal Y _5. Reference target control signal Y ₅ corresponds to the target control signal Y ₁ generated by each mode target generator 101 shown in FIG. The reference target control signal _{Y 5} is represented by the formula (4).

Process determination unit 48, for each mode, and difference component calculated by the difference calculation section 46, based on the reference target control signal Y _5, the coefficient β and the coefficient used in the adjustment process by the integrated control signal generator 43 Determine γ.

Here, a method of determining the coefficient β and the coefficient γ by the processing determining unit 48 will be described in detail. 6, the control signal Y ₆ which is generated based on the reference target control signal Y ₅ is expressed by equation (5). The first expression of Expression (5) is the same as Expression (1) described above. Expand the first equation of equation (5), the control signal Y ₆ is expressed by the second equation.

Next, the exciting force of the actuator 10, i.e. the acceleration of the mass 12, it is ideal state that matches the reference target control signal Y _5. Therefore, the coefficient β and the coefficient γ used in the adjustment processing are determined so that they match. Therefore, as shown in the lower section of FIG. 6, when the control signal Y ₆ generated based on the reference target control signal Y ₅ is output to the actuator 10, the state signal Y ₇ detected by the setting sensor 30 is shall be consistent with the reference target control signal Y _5. In other words, the state signal _{Y 7} is expressed by the equation (6). The right side of equation (6) matches the right side of equation (4).

Here, the first control signal Y ₃ difference component of the first state signal Y ₄ is made grasped in advance as described above. That is, as shown in the upper part of FIG. 6, the first state signal Y _4, to the first control signal Y _3, the amplitude becomes (Q / P) times, the phase is shifted by (+ phi). Then, a control signal Y _6, the relationship between the state signal Y ₇ shall be similar. Then, the control signal _{Y 6,} to the state signal _{Y 7,} the amplitude becomes (P / Q) multiplied, the phase is shifted by (-.phi). Therefore, the control signal Y ₆ is expressed by the first equation of equation (7). When the first equation of the equation (7) is expanded, it is expressed as the second equation.

  Comparing the second expression of Expression (5) with the second expression of Expression (7), both of the first terms have sin (ωt + θ), and both of the second terms have cos (ωt + θ). I have. Therefore, in the second expression of Expression (5) and the second expression of Expression (7), the relationship of Expression (8) can be derived from the relationship between the first terms and the relationship between the second terms.

In this manner, the process determining unit 48 can determine the coefficient β and the coefficient γ. The determined coefficient β and coefficient γ are set in each of the next mode processing units 42a to 42e of the mode-specific processing unit 42. The coefficient beta, gamma, from the derivation process, the setting process of the control unit 40, a coefficient such that the relationship of the reference target control signal Y ₅ and the state signal Y ₇ matches. That is, in the vibration damping control for each mode by the control unit 40, so that each mode control signal Y ₂ as the acceleration of the target control signal Y ₁ and the mass 12 matches are generated. Accordingly, the coefficient beta, the actuator 10 that is driven by the the mode for each control signal Y ₂ adjusted using γ, for each mode, it is possible to generate the excitation force so as to coincide with the desired phase.

<2. Second embodiment>
The configuration of the mode-specific processing unit 42 of the second embodiment during the vibration suppression control will be described with reference to FIG. The first to fifth-order mode processing units 42a to 42e include a mode-specific adjustment signal generation unit 204, a mode-specific target generation unit 201, and a mode-specific control signal generation unit 203. The same components as those in the first embodiment are denoted by the same reference numerals.

The mode-specific adjustment signal generation unit 204 includes an input unit 204a for inputting the mode-specific vibration obtained by the mode decomposition unit 41. Each mode adjustment signal generating unit 204, the input signal itself and the phase adjustment signal Y _b. Phase adjustment signal Y _b corresponds to the differential value for the target control signal Y _1. That is, the phase adjustment signal Y _b corresponds to jerk component of the mass 12. Each mode target generator 201 includes an integrator 201a integral to the vibration signal input to the input portion 204a (phase adjustment signal _{Y b)} generating a target control signal _{Y 1.}

Each mode control signal generator 203 generates a mode for each control signal Y ₁₂ by performing an adjustment process with respect to the target control signal Y ₁ and the phase adjustment signal Y _b. The mode-specific control signal generation unit 203 includes a multiplier 103a for a coefficient β, a multiplier 203d for a coefficient α, and an output unit 203c. Multiplier 103a coefficient β is multiplied by a coefficient β with respect to the target control signal Y _1. Multiplier 203d of the coefficient α is multiplied by a coefficient α with respect to the phase adjustment signal Y _b. The output unit 203c generates the sum of the output signal of the multiplier 103a of the coefficient β and the output signal of the multiplier 203b of the coefficient α, and outputs the sum to the integrated control signal generation unit 43.

Each mode control signal _{Y 12} is represented by the formula (9). In this case, the coefficient β and the coefficient α are determined as shown in Expression (10) based on the same concept as the setting processing of the coefficient β and the coefficient γ by the mode-specific processing unit 42 of the first embodiment.

  Here, the coefficients α and β are set to different values for each mode. That is, the coefficients α and β in the mode-specific control signal generation unit 203 of the primary mode processing unit 42a and the coefficients α and β in the mode-specific control signal generation unit 203 of the secondary mode processing unit 42b are set to different values. You.

<3. Third embodiment>
The configuration of the mode-specific processing unit 42 of the third embodiment during the vibration suppression control will be described with reference to FIG. The first to fifth order mode processing units 42a to 42e include a first adjustment signal generation unit 204 for each mode, a target generation unit 201 for each mode, a second adjustment signal generation unit 102 for each mode, and a control signal generation unit 303 for each mode. . In addition, about the same structure as 1st, 2nd embodiment, the same code | symbol is attached | subjected.

Each mode target generator 201 generates a target control signal Y _1, each mode first adjustment signal generating unit 204 generates a first phase adjustment signal Y _b, each mode the second adjustment signal generator 102, generating a second phase adjustment signal Y _a. Each mode control signal generation unit 303 generates a target control signal Y _1, first phase adjustment signal Y _b and the second phase adjustment signal Y _a mode for each control signal Y ₂₂ by the configuration process performed on.

The mode-specific control signal generation unit 303 includes a multiplier 103a for coefficient β, a multiplier 203d for coefficient α, a multiplier 103b for coefficient γ, and an output unit 303c. Multiplier 103a coefficient β is multiplied by a coefficient β with respect to the target control signal Y _1. Multiplier 203d of the coefficient α is multiplied by a coefficient α for the first phase adjustment signal Y _b. Multiplier 103b coefficient γ multiplies the coefficient γ for the second phase adjustment signal Y _a. The output unit 303c generates the sum of the output signal of the multiplier 103a of the coefficient β, the output signal of the multiplier 203d of the coefficient α, and the output signal of the multiplier 103b of the coefficient γ, and outputs the sum to the integrated control signal generation unit 43. In this case, each mode control signal _{Y 22} is represented by the formula (11).

  In this case, the coefficient β, the coefficient α, and the coefficient γ can be derived based on the same concept as the setting processing of the coefficient β and the coefficient γ by the mode-specific processing unit 42 of the first embodiment. However, it is necessary to set the conditions of the coefficient α and the coefficient γ in advance. The condition is, for example, that the coefficient α and the coefficient γ have a predetermined ratio.

  Here, the coefficients α, β, and γ are set to different values for each mode. That is, the coefficients α, β, and γ in the mode-specific control signal generation unit 303 of the primary mode processing unit 42a are different from the coefficients α, β, and γ in the mode-specific control signal generation unit 303 of the secondary mode processing unit 42b. Set to value.

  Specifically, the coefficients α, β, and γ are set in the first-order and second-order mode processing units 42a and 42b, which are low-order modes, so as to perform an adjustment process that increases the number of integration processes. Good. For example, the coefficient α is set to be smaller than the coefficient γ. That is, the coefficients α and γ are set so that the ratio of the coefficient α to the coefficient γ (α / γ) becomes a small value.

For example, the coefficient α is set to zero. In this case, each mode control signal Y ₂₂ is not affected multiplier 203d of the coefficient alpha. In this case, the primary and secondary mode processing units 42a and 42b perform the same operation as the mode processing units 42a and 42b of the first embodiment. That is, primary, secondary mode processing unit 42a, in 42b, each mode adjustment signal generator 102, a mode for each vibration corresponding to the acceleration of the vibration control object 2, the phase adjustment signal Y _a by integrating twice Generate

  On the other hand, in the third-order, fourth-order, and fifth-order mode processing units 42c, 42d, and 42e, which are higher-order modes, coefficients α, β, and γ are set so as to perform adjustment processing that reduces the number of integration processes. Good. For example, the coefficient γ is set to be smaller than the coefficient α. That is, the coefficients α and γ are set such that the ratio of the coefficient γ to the coefficient α (γ / α) becomes a small value.

For example, the coefficient γ is set to zero. In this case, each mode control signal Y ₂₂ is not affected in the process of the multiplier 103b of coefficient gamma. In this case, the third, fourth, and fifth mode processing units 42c, 42d, and 42e perform the same operations as the mode processing units 42c, 42d, and 42e of the second embodiment. That is, third-order, fourth order, fifth-order-mode processing section 42c, 42d, at 42e, each mode adjustment signal generator 204, a phase adjustment signal _{Y b} are those that mode each vibration corresponding to the acceleration of the vibration control object 2 Generate

  That is, when the coefficient α in the first and second order mode processing units 42a and 42b is zero and the coefficient γ in the third, fourth and fifth order mode processing units 42c, 42d and 42e is zero, the mode Each processing unit 42 has a configuration as shown in FIG.

  As described above, in the higher-order mode, by performing the adjustment processing for reducing the number of times of the integration processing, it is possible to perform the processing with good responsiveness. On the other hand, in the low-order mode, by performing an adjustment process for increasing the number of integration processes, it is possible to perform a process with good stability. In the low-order mode, the vibration to be matched in phase has a low frequency, and the response is sufficiently good.

<4. Effects of Embodiment>
The active vibration damping device 1 according to the first to third embodiments outputs an actuator 10 that applies vibration to a vibration damping target 2 such as a face material or a beam material, and outputs a periodic control signal to the actuator 10. And a plurality of control sensors 21-25 for detecting a vibration of the vibration damping target 2 and a setting sensor 30 for detecting a state signal correlated with the exciting force of the actuator 10.

The control device 40 includes a mode decomposing unit 41 that obtains a vibration for each mode by performing modal filtering based on the detection values of the plurality of control sensors 21-25, and a vibration unit for each mode based on the vibration for each mode. generating a mode for each target generator 101, 201 for generating a target control signal Y ₁ corresponding to the force, for each mode, the phase adjustment signal Y _a corresponding to the integral value or differential value of the target control signal Y _1, a Y _b and each mode adjustment signal generating unit 102, 204 which, in each mode, the target control signal _{Y 1} and the phase adjustment signal _Y a, each mode control signal _Y 2 by performing predetermined adjustment processing on the _{Y b, Y 12} , _{Y 22} and each mode control signal generation unit 103, 203, 303 for generating, for each mode control signal _{Y 2,} Y _12, the integrated control signal generation unit 4 for generating a control signal based on _{Y 22} 3 is provided.

Further, the control unit 40 includes a first status signal acquiring unit 45 that acquires the first status signal Y ₄ detected by the setting sensor 30 when the actuator 10 outputs the first control signal Y _3, first control It comprises a difference calculation section 46 for calculating a difference component of the amplitude and phase of the signal Y ₃ and the first state signal Y _4, and a processing determination unit 48 for determining a predetermined adjustment processing based on the difference amount.

Each mode control signal generation unit 103, 203, 303 of the control unit 40, for each mode, the target control signal _{Y 1} and the phase adjustment signal _Y a, in terms of using a _{Y b,} the target control signal _{Y 1} and the phase adjustment signal Y _a, and it generates a predetermined adjustment processing mode for each controlled by a performing signal _{Y 2, Y 12, Y 22} against _{Y b.} Therefore, since the control device 40 has the phase adjustment function, the generated mode-specific control signals Y ₂ , Y ₁₂ , and Y ₂₂ can be matched with a desired phase. Then, the phase adjustment signal _Y a, _{Y b} represents an integral value or differential value of the target control signal _{Y 1.} Therefore, the phase adjustment signal _Y a, generation of _{Y b} is easy.

Further, the control device 40 includes a first state signal acquisition unit 45, a difference calculation unit 46, and a process determination unit 48. With these configurations, it is possible to easily determine a predetermined adjustment process performed by the mode-specific control signal generation units 103, 203, and 303. In particular, the processing determining unit 48, the phase adjustment signal Y _a, since Y _b is a signal corresponding to the integral value or differential value of the target control signal Y _1, can be easily and reliably determine the predetermined adjustment processing. Then, a predetermined adjustment process is determined, the phase shift occurs when the controller 40 generates a target control signal for each mode control signal from the _{Y 1 Y 2, Y 12,} Y 22, and, for each mode control signal Y ₂ , Y ₁₂ , Y ₂₂ and the phase shift generated by the actuator 10 are considered. As a result, the vibration of each mode generated by the actuator 10 can be matched with a desired phase, and the vibration damping effect can be reliably exhibited.

The processing determining unit 48, the reference target control signal _Y each mode control signal _Y 2 on the basis of _5, Y _{12, Y 22} is generated, and was produced for each mode control signal _{Y 2,} Y _{12, Y 22} There is determined when it is output to the actuator 10, a predetermined adjustment processing, such as the status signal Y ₇ and the reference target control signal Y ₅ to be detected are matched by setting the sensor 30.

Thus, the damping control by the control unit 40, so that the target control signal _{Y 1} and each mode control signal _Y 2 as the acceleration to match the mass _12, Y _{12, Y 22} is generated. Therefore, the actuator 10 driven by the mode-specific control signals Y ₂ , Y ₁₂ , and Y ₂₂ adjusted by the predetermined adjustment processing can generate an exciting force that matches a desired phase.

In the control device 40 of the third embodiment, the mode-specific adjustment signal generation units 102 and 204 generate a plurality of phase adjustment signals by different processes, and the mode-specific control signal generation unit 303 generates the target control signal Y _1. and it generates a mode for each control signal Y ₂₂ by performing predetermined adjustment processing for a plurality of phase adjustment signal Y _a, Y _b. Thus, by using a plurality of phase adjustment signal Y _a, and Y _b, it can be any suitable adjustment processing according to the vibration mode and vibration conditions.

In the control device 40 according to the first to third embodiments, the mode-specific control signal generation units 103, 203, and 303 perform different predetermined adjustment processes according to the modes, so that The control signals Y ₂ , Y ₁₂ and Y ₂₂ are generated. That is, the coefficients α, β, and γ are appropriately set according to the mode. Thereby, the vibration of each mode generated by the actuator 10 can be surely matched with a desired phase, and the vibration damping effect can be surely exhibited.

Further, as described in the third embodiment, each mode adjustment signal generating unit 102, 204, in the high-order mode, to generate a phase adjustment signal Y _b by a smaller number of integration processing, in the lower modes, often integral generating a phase adjustment signal Y _a by count processing.

  In the higher-order mode, by performing an adjustment process for reducing the number of integration processes, it is possible to perform a process with good responsiveness. On the other hand, in the low-order mode, by performing an adjustment process for increasing the number of integration processes, it is possible to perform a process with good stability. In the low-order mode, the vibration to be matched in phase has a low frequency, and the response is sufficiently good.

In particular, in the above description, the control sensor 21-25 detects the acceleration of the vibration damping target 2, and the mode decomposing unit 41 performs modal filtering based on the acceleration of the vibration damping target 2, thereby obtaining the vibration damping target 2. acquires each mode vibration corresponding to each mode of acceleration, each mode target generator 101, 201 for each mode generates a target control signal Y ₁ by integrating the each mode vibration. Then, for each mode adjustment signal generating unit 204 in the high-order mode generates each mode vibration as a phase adjustment signal Y _b. On the other hand, each mode adjustment signal generator 102 for the lower order mode, the mode for each oscillation to generate a phase adjustment signal Y _a by integrating twice. Thereby, the vibration damping effect can be reliably exerted on the vibrations in a plurality of modes.

  In the active vibration damping device 1 according to the first to third embodiments, the actuator 10 includes a spring element 11 attached to the vibration damping target 2 and a spring element 11 attached to the spring element 11. The configuration includes a vibrating mass 12 and a driving device 13 for driving the mass 12. Then, the setting sensor 30 detects the acceleration of the mass 12 as a state signal. Thus, the setting sensor 30 can reliably and easily acquire the state signal correlated with the excitation force by the actuator 10. As a result, the adjustment processing in the mode-specific control signal generation units 103, 203, and 303 can be determined more appropriately.

1: Active vibration damping device, 2: Damping target, 10: Actuator, 11: Spring element, 12: Mass, 13: Drive device, 21-25: Control sensor, 30: Setting sensor, 40: Control device 41: mode decomposition unit, 42: processing unit for each mode, 42a to 42e: mode processing unit of first to fifth order, 43: integrated control signal generation unit, 44: first control signal generation unit, 45: first state Signal acquisition unit, 46: difference calculation unit, 47: reference target signal generation unit, 48: processing determination unit, 50: amplification circuit, 101, 201: target generation unit for each mode, 102, 204: adjustment signal generation unit for each mode , 103, 203, 303: each mode control signal generation unit, _{Y 1:} a target control _{signal, Y 2, Y 12, Y} 22: each mode control signal, _{Y 3:} the first control signal, _{Y 4:} a first status signal , Y ₅ : standard Target control signal, _{Y 6:} control signal, _{Y 7:} state signal, _Y a, _{Y b:} phase adjustment signal, α, β, γ: coefficient

Claims (7)

An actuator for applying vibration to the vibration damping target,
A control device that outputs a periodic control signal to the actuator,
A setting sensor for detecting a state signal that is correlated with the excitation force by the actuator,
A plurality of control sensors for detecting the vibration of the vibration damping target,
With
The control device includes:
A mode decomposing unit that obtains each mode vibration by performing modal filtering based on detection values of the plurality of control sensors,
A target generation unit for each mode that generates a target control signal corresponding to the excitation force, for each mode, based on the vibration for each mode,
For each mode, an adjustment signal generation unit for each mode that generates a phase adjustment signal corresponding to an integral value or a differential value of the target control signal,
For each mode, a mode-based control signal generation unit that generates a mode-based control signal by performing a predetermined adjustment process on the target control signal and the phase adjustment signal,
An integrated control signal generation unit that generates the control signal based on the mode-specific control signal,
With
The control device includes:
A signal acquisition unit that acquires a first state signal detected by the setting sensor when a first control signal is output to the actuator,
A difference calculation unit that calculates a difference between the amplitude and the phase of the first control signal and the first state signal,
A process determining unit that determines the predetermined adjustment process based on the difference,
An active vibration damping device further comprising:   The process determining unit is configured to generate the control signal for each mode based on a reference target control signal, and to be detected by the setting sensor when the generated control signal for each mode is output to the actuator. The active vibration damping device according to claim 1, wherein the predetermined adjustment processing is determined so that the state signal matches the reference target control signal. The adjustment signal generation unit generates a plurality of phase adjustment signals by different processing,
The active mode control signal according to claim 1, wherein the mode-specific control signal generation unit generates the mode-specific control signal by performing a predetermined adjustment process on the target control signal and the plurality of phase adjustment signals. Damping device.   4. The mode-specific control signal generating unit according to claim 1, wherein the mode-specific control signal generating unit generates the mode-specific control signal according to a mode by performing the predetermined adjustment process that differs according to a mode. 5. Active vibration suppression device. The adjustment signal generation unit for each mode,
In the higher order mode, the phase adjustment signal is generated by a small number of integration processes,
The active vibration damping device according to claim 4, wherein in the low-order mode, the phase adjustment signal is generated by a large number of integration processes. The control sensor detects an acceleration of the vibration damping target,
The mode decomposition section performs modal filtering based on the acceleration of the vibration damping target, thereby acquiring the vibration for each mode corresponding to the acceleration for each mode of the vibration damping target,
The target generation unit for each mode, for each mode, to generate the target control signal by integrating the vibration for each mode,
The mode-specific adjustment signal generation unit in the higher-order mode generates the mode-specific vibration as the phase adjustment signal,
The active vibration damping device according to claim 5, wherein the mode-specific adjustment signal generation unit in the low-order mode generates the phase adjustment signal by integrating the mode-specific vibration twice. The actuator comprises:
A spring element attached to the vibration damping target,
A mass attached to the spring element and oscillating with respect to the vibration damping target,
A driving device for driving the mass,
With
The active vibration damping device according to claim 1, wherein the setting sensor detects an acceleration of the mass as the state signal.

Images