JP6706122B2 - Active vibration control device - Google Patents

Description

The present invention relates to an active vibration damping device.

Patent Document 1 describes controlling the actuator so that the integrated value of the displacement position of the structure and the displacement position of the movable mass change in the same phase. Patent Document 2 describes that a DVFB (Direct Velocity Feedback) or an optimum regulator is used as a controller of a mass addition type active vibration damping device.

Patent Document 3 describes that the vibration waveform of floor vibration is predicted based on the floor vibration sensed by the vibration sensor, and the vibration generator vibrates the floor according to a command of vibration in an opposite phase to cancel the vibration waveform. Has been done. In Patent Document 4, in accordance with a detection signal of a sensor that detects the vibration of the vibration suppression target, a vibration having the same frequency as the vibration generated in the vibration suppression target but the phase is opposite to that of the vibration generated in the vibration suppression target It is described to do.

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

In order to suppress the vibration suppression target, it is important that the vibration generated by the actuator has the opposite phase to the vibration of the vibration suppression target. However, the vibration generated by the actuator may not be the desired vibration due to the phase shift generated when the control device generates the control signal from the input signal and the 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.

It is an object of the present invention to provide an active vibration damping device capable of adjusting the phase of a control signal so that the vibration generated by an actuator can be matched with a desired phase.

An active vibration damping device according to the present invention, an actuator for applying vibration to a vibration damping target,
A control device that outputs a periodic control signal to the actuator, and a setting sensor that detects a state signal that correlates with an exciting force of the actuator are provided. The control device includes a target generation unit that generates a target control signal corresponding to the exciting force, an adjustment signal generation unit that generates a phase adjustment signal corresponding to an integral value or a differential value of the target control signal, and the target. a signal subjected to the adjustment processing using the first weighting factor to the control signal, based on the second weight signal the coefficients subjected to adjustment processing using the with respect to the phase adjustment signal, generating said control signal And a control signal generator for

Further, the control device outputs a first control signal for determining a coefficient to the actuator in order to determine the first weight coefficient and the second weight coefficient , the first sensor detected by the setting sensor. A signal acquisition unit that acquires a state signal, a difference calculation unit that calculates a difference in amplitude and phase between the first control signal and the first state signal, and the first weighting factor based on the difference. And a processing determination unit that determines the second weighting coefficient .
It is assumed that a coefficient determination control signal corresponding to the control signal is generated based on a reference target control signal for coefficient determination corresponding to the target control signal, and the coefficient determination control signal is output to the actuator. If it is assumed that, the first condition is that the coefficient determination state signal corresponding to the state signal and the reference target control signal match.
The second condition is that the difference in amplitude and phase between the coefficient determining control signal and the coefficient determining state signal matches the difference calculated by the difference calculating unit.
The processing determination unit determines the first weighting coefficient and the second weighting coefficient that satisfy the first condition and the second condition.

The control signal generation unit of the control device generates the control signal by using the target control signal and the phase adjustment signal and then performing a predetermined adjustment process on the target control signal and the phase adjustment signal. Therefore, since the control device has the phase adjusting function, it is possible to match the generated control signal with the desired phase. The phase adjustment signal corresponds to the integral value or the differential value of the target control signal. Therefore, the generation of the phase adjustment signal is easy.

Furthermore, the control device includes a signal acquisition unit, a difference calculation unit, and a processing determination unit. With these configurations, the predetermined adjustment process executed by the control signal generation unit can be easily determined. In particular, since the phase adjustment signal is a signal corresponding to the integral value or the 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 from the target control signal and the phase shift that the control signal and the actuator generate. As a result, the vibration generated by the actuator can be matched with the desired phase, and the vibration damping effect can be reliably exhibited.

It is a figure which shows the structure of an active vibration damping device. It is a figure which shows the structure of the control apparatus of 1st embodiment at the time of damping control. It is a figure which shows the structure of the control apparatus at the time of setting. It is a figure which shows the relationship of each signal in the setting process of coefficient (beta) and (gamma). It is a figure which shows the structure of the control apparatus of 2nd embodiment at the time of damping control. It is a figure which shows the structure of the control apparatus of 3rd embodiment at the time of damping control. It is a figure which shows the structure of the control apparatus of 4th embodiment at the time of damping control. It is a figure which shows the structure of the control apparatus of 5th embodiment at the time of damping control. The vibration waveform of the damping target is shown.

<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 object 2 to be damped by the active vibration damping device 1 is, for example, a bar, a plate, or other various members. In the present embodiment, as shown in FIG. 1, the damping target 2 is a bar material as an example. Both ends of the bar material as the vibration damping target 2 are simply supported, and are flexibly deformed.

The active vibration damping device 1 includes an actuator 10, a control sensor 20, a setting sensor 30, a control device 40, and an amplification circuit 50 (also referred to as Amp). The actuator 10 is attached to the damping target 2 and applies vibration to the damping target 2. Various configurations can be applied to the actuator 10 as long as it is a configuration that generates vibration.

In the present embodiment, the actuator 10 includes a spring element 11, a mass 12, and a drive 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 vibration suppression target 2. Then, the vibration of the mass 12 and the elastic deformation of the spring element 11 impart vibration to the vibration suppression target 2. The drive device 13 actively vibrates the mass 12. As the drive device 13, for example, a solenoid or a voice coil can be applied.

The control sensor 20 detects the vibration of the vibration suppression target 2 when performing the vibration suppression control by the actuator 10. That is, the vibration detected by the control sensor 20 is used to control the actuator 10. The control sensor 20 is a sensor that detects any one of the vibration acceleration, the vibration speed, and the vibration displacement of the vibration suppression target 2. In the present embodiment, the control sensor 20 uses a sensor that detects the vibration acceleration of the vibration suppression target 2.

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 damping control. The setting sensor 30 detects a state signal that correlates 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. The control device 40 generates a control signal by inputting the detection value of the control sensor 20 when performing the damping control of the damping target 2. On the other hand, the control device 40 inputs the 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 amplifier circuit 50 amplifies the control signal output from the control device 40 and supplies drive power to the drive device 13 of the actuator 10.

(1-2. Configuration of control device 40 during vibration suppression control)
The configuration of the control device 40 at the time of damping control will be described with reference to FIG. The control device 40 includes a target generation unit 41, an adjustment signal generation unit 42, and a control signal generation unit 43.

The target generator 41 generates a target control signal Y ₁ corresponding to the vibration force of the actuator 10. Here, the target control signal Y ₁ is a periodic signal and is a target value of the acceleration of the mass 12. The target generation unit 41 includes an input unit 41a that inputs the vibration signal of the vibration suppression target 2 detected by the control sensor 20 and an integrator 41b that integrates the input vibration signal and generates a target control signal Y _1. Prepare Since the control sensor 20 is an acceleration sensor, it detects the vibration acceleration of the vibration suppression target 2. That is, in the present embodiment, the target control signal Y ₁ corresponds to a signal corresponding to a single integrated value of the vibration acceleration signal of the vibration suppression target 2, that is, the vibration speed of the vibration suppression target 2.

Adjusting signal generating section 42 generates a phase adjustment signal Y _a for performing phase adjustment with respect to the target control signal Y _1. In the present embodiment, the adjustment signal generating unit 42 includes an integrator 42a for generating a phase adjustment signal Y _a by integrating the target control signal Y _1. That is, the phase adjustment signal Y _a corresponds to the 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.

The control signal generation unit 43 generates _a control signal Y ₂ by performing an adjustment process on the target control signal Y ₁ and the phase adjustment signal Ya. The control signal generation unit 43 includes a multiplier 43a having a coefficient β, a multiplier 43b having a coefficient γ, and an output unit 43c. The coefficient β multiplier 43a multiplies the target control signal Y ₁ by the coefficient β. The coefficient γ multiplier 43b multiplies the phase adjustment signal Y _a by the coefficient γ. The output unit 43c generates the sum of the output signal of the multiplier 43a having the coefficient β and the output signal of the multiplier 43b having the coefficient γ, and outputs the sum to the amplifier circuit 50.

That is, the control signal Y ₂ is represented by the equation (1). The adjustment process by the control signal generation unit 43 is a process of multiplying the target control signal Y ₁ by the coefficient β and the phase adjustment signal Y _a by the coefficient γ, and 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 of the target control signal Y ₁ . The larger the ratio of the phase adjustment signal Y _a, the larger the amount of change in the phase of the target control signal Y ₁ .

(1-3. Function of control device 40 at the time of setting)
Next, the configuration of the control device 40 at the time of setting will be described with reference to FIGS. 3 and 4. The control device 40 performs the setting process of the coefficient β and the coefficient γ in the control signal generation unit 43. 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 process determination unit 48, a control signal generation unit 43 (also shown in FIG. 2). ) Is provided.

First control signal generating unit 44 generates a first control signal Y _3, which is arbitrarily set. The first control signal Y ₃ is represented by Expression (2). The first control signal Y ₃ is, for example, a sine wave signal having no phase component. Then, the first control signal generation unit 44 outputs the first control signal Y ₃ to the actuator 10 via the amplification circuit 50.

Here, the actuator 10 to which the first control signal Y3 is output vibrates. Then, the setting sensor 30 detects the first state signal Y ₄ correlated with the exciting force of the actuator 10, that is, the first state signal Y ₄ as the acceleration of the mass 12. Then, the first state signal acquisition unit 45 acquires the first state signal Y ₄ detected by the setting sensor 30 when the first control signal Y ₃ is output to the actuator 10. The first state signal Y ₄ is represented by equation (3).

The difference calculation unit 46 calculates the difference in amplitude and phase between the first control signal Y ₃ and the first state signal Y ₄ . That is, as shown in the upper part of FIG. 4, the amplitude of the first state signal Y ₄ is (Q/P) times that of the first control signal Y ₃ , and the phase thereof is deviated by (+φ).

Reference target signal generating unit 47 generates an arbitrary reference target control signal Y _5. The reference target control signal Y ₅ corresponds to the target control signal Y ₁ generated by the target generator 41 shown in FIG. Here, the reference target control signal Y ₅ is represented by the equation (4).

The process determination unit 48 determines the coefficient β and the coefficient γ used for the adjustment process by the control signal generation unit 43, based on the difference calculated by the difference calculation unit 46 and the reference target control signal Y ₅ .

Here, a method of determining the coefficient β and the coefficient γ by the process determining unit 48 will be described in detail. As shown in FIG. 4, the control signal Y ₆ generated based on the reference target control signal Y ₅ is expressed by the equation (5). The first expression of the expression (5) is the same as the above-mentioned expression (1). When the first expression of the expression (5) is expanded, the control signal Y ₆ is expressed as the second expression.

Next, it is an ideal state that the exciting force of the actuator 10, that is, the acceleration of the mass 12 matches the reference target control signal Y ₅ . Therefore, the coefficient β and the coefficient γ used for the adjustment processing are determined so that they match. Therefore, as shown in the lower column of FIG. 4, 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 , And the reference target control signal Y ₅ . That is, the state signal Y ₇ is represented by the equation (6). The right side of Expression (6) matches the right side of Expression (4).

Here, the difference between the first control signal Y ₃ and the first state signal Y ₄ can be grasped in advance as described above. That is, as shown in the upper part of FIG. 4, the amplitude of the first state signal Y ₄ is (Q/P) times that of the first control signal Y ₃ , and the phase thereof is deviated by (+φ). The relationship between the control signal Y ₆ and the state signal Y ₇ is the same. Then, the control signal Y ₆ has an amplitude (P/Q) times and a phase shift of (−φ) with respect to the state signal Y ₇ . Therefore, the control signal Y ₆ is expressed as the first expression of the expression (7). When the first expression of Expression (7) is expanded, it is expressed as the second expression.

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

In this way, the process determining unit 48 can determine the coefficient β and the coefficient γ. The determined coefficient β and coefficient γ are set by the control signal generation unit 43. Here, the coefficients β and γ are coefficients that cause the reference target control signal Y ₅ and the state signal Y ₇ to be in the same relationship in the setting process of the control device 40 by the above derivation method. That is, in the vibration damping control by the control device 40, the control signal Y ₂ is generated so that the target control signal Y ₁ and the acceleration of the mass 12 match. Therefore, the actuator 10 driven by the control signal Y ₂ adjusted using the coefficients β and γ can generate an exciting force that matches the desired phase.

<2. Second embodiment>
The configuration of the control device 140 of the second embodiment at the time of damping control will be described with reference to FIG. The control device 140 includes an adjustment signal generation unit 144, a target generation unit 141, and a control signal generation unit 143. The same components as those in the first embodiment are designated by the same reference numerals.

The adjustment signal generation unit 144 includes an input unit 144a that inputs the vibration signal of the vibration suppression target 2 detected by the control sensor 20. The adjustment signal generator 144 uses the input signal itself as 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 the jerk component of the mass 12. Target generator 141 includes an integrator 141a integral to the vibration signal input to the input portion 144a (phase adjustment signal _{Y b)} generating a target control signal _{Y 1.}

The control signal generation unit 143 generates a control signal Y ₁₂ by performing an adjustment process on the target control signal Y ₁ and the phase adjustment signal Y _b . The control signal generation unit 143 includes a multiplier 43a having a coefficient β, a multiplier 143d having a coefficient α, and an output unit 143c. The coefficient β multiplier 43a multiplies the target control signal Y ₁ by the coefficient β. The coefficient α multiplier 143d multiplies the phase adjustment signal Y _b by the coefficient α. The output unit 143c generates the sum of the output signal of the multiplier 43a having the coefficient β and the output signal of the multiplier 143b having the coefficient α, and outputs the sum to the amplifier circuit 50.

The control signal Y ₁₂ is represented by Expression (9). In this case, the coefficient β and the coefficient α are determined as shown in Expression (10) according to the same concept as the setting processing of the coefficient β and the coefficient γ by the control device 40 of the first embodiment.

<3. Third embodiment>
The configuration of the control device 240 of the third embodiment at the time of damping control will be described with reference to FIG. The control device 240 includes a first adjustment signal generation unit 144, a target generation unit 141, a second adjustment signal generation unit 42, and a control signal generation unit 243. The same components as those in the first and second embodiments are designated by the same reference numerals.

The target generation unit 141 generates the target control signal Y ₁ , the first adjustment signal generation unit 144 generates the first phase adjustment signal Y _b , and the second adjustment signal generation unit 42 causes the second phase adjustment signal Y 1. _a is generated. The control signal generation unit 243 generates _a control signal Y ₂₂ by performing _a configuration process on the target control signal Y ₁ , the first phase adjustment signal Y _b, and the second phase adjustment signal Y _a .

The control signal generation unit 243 includes a coefficient β multiplier 43a, a coefficient α multiplier 143d, a coefficient γ multiplier 43b, and an output unit 243c. The coefficient β multiplier 43a multiplies the target control signal Y ₁ by the coefficient β. The coefficient α multiplier 143d multiplies the first phase adjustment signal Y _b by the coefficient α. The coefficient γ multiplier 43b multiplies the second phase adjustment signal Y _a by the coefficient γ. The output unit 143c generates the sum of the output signal of the multiplier 43a having the coefficient β, the output signal of the multiplier 143b having the coefficient α, and the output signal of the multiplier 43b having the coefficient γ, and outputs the sum to the amplifier circuit 50.

At this time, the control signal Y ₂₂ is represented by Expression (11). In this case, the coefficient β, the coefficient α, and the coefficient γ can be derived by the same idea as the setting process of the coefficient β and the coefficient γ by the control device 40 of the first embodiment. However, it is necessary to preset the conditions of the coefficient α and the coefficient γ. The condition is, for example, that the coefficient α and the coefficient γ have the same value.

<4. Fourth embodiment>
The configuration of the control device 340 of the fourth embodiment during vibration suppression control will be described with reference to FIG. 7. In the present embodiment, the active vibration damping device 1 includes a first control sensor 120 and a second control sensor 220. Here, the first control sensor 120 detects the vibration speed of the vibration suppression target 2. The second control sensor 220 detects the vibration acceleration of the vibration suppression target 2.

The control device 340 includes a target generation unit 341, a fifth adjustment signal generation unit 342, and a control signal generation unit 143. In addition, the same reference numerals are given to the substantially same configurations as those of the above-described embodiment. The target generation unit 341 includes an input unit 341a that inputs the vibration acceleration of the vibration suppression target 2 detected by the first control sensor 120 and generates the target control signal Y ₁ . Fifth adjustment signal generating unit 342 includes enter the vibration velocity of the detected damped 2 by the second control sensors 220, an input unit 342a for generating a fifth phase adjustment signal Y _b.

The control signal generation unit 143 generates a control signal Y ₁₂ by performing an adjustment process on the target control signal Y ₁ and the fifth phase adjustment signal Y _b . The control signal generation unit 143 includes a multiplier 43a having a coefficient β, a multiplier 143b having a coefficient α, and an output unit 143c. The coefficient β multiplier 43a multiplies the target control signal Y ₁ by the coefficient β. The coefficient α multiplier 143b multiplies the fifth phase adjustment signal Y _b by the coefficient α. The output unit 143c generates the sum of the output signal of the multiplier 43a having the coefficient β and the output signal of the multiplier 143d having the coefficient α, and outputs the sum to the amplifier circuit 50.

<5. Fifth Embodiment>
The configuration of the control device 440 of the fifth embodiment will be described with reference to FIGS. 8 to 9. The control device 440 of the present embodiment further includes a switching unit 445 in addition to the control device 240 of the second embodiment.

Here, the control signal generation unit 243 includes a coefficient β multiplier 43a, a coefficient γ multiplier 43b, a coefficient α multiplier 143d, and an output unit 243c. However, the coefficients β, γ, and α stored in each of the multipliers 43a, 43b, and 143d can be changed by the switching unit 445. Specifically, the switching unit 445 acquires the vibration of the vibration damping target 2 detected by the control sensor 20, and the vibration is during amplification (T1 in FIG. 9 ), or the vibration is other than amplification (FIG. 9 ). T2) of the above is determined. It should be noted that the term “vibration other than amplification” includes when the vibration is damped and when the vibration is steady.

When the vibration is amplified (T1 in FIG. 9), the switching unit 445 switches the coefficients β, γ, and α so that the control signal generation unit 243 performs the adjustment process that reduces the number of integration processes. For example, the switching unit 445 sets the coefficient γ to zero. As a result, the control signal Y ₂₂ is not affected by the processing of the multiplier 43b of the coefficient γ at all. That is, the control signal generation unit 243 in this case performs the same operation as the control signal generation unit 143 of the second embodiment.

On the other hand, when the vibration is other than amplification (T2 in FIG. 9), the switching unit 445 switches the coefficients β, γ, and α so that the control signal generation unit 243 performs the adjustment process that increases the number of integration processes. .. For example, the switching unit 445 sets the coefficient α to zero. As a result, the control signal Y ₂₂ is completely unaffected by the processing of the multiplier 143d of the coefficient α. That is, the control signal generation unit 243 in this case performs the same operation as the control signal generation unit 43 of the first embodiment. Thus, when vibration is amplified, processing with good responsiveness can be performed, and when vibration is other than amplification, processing with good stability can be performed.

In addition to the above, the switching unit 445 may change only the coefficient α corresponding to the weighting coefficient of the first phase adjustment signal Y _b corresponding to the acceleration of the vibration damping target 2. Specifically, the switching unit 445 increases the coefficient α when the vibration is amplified (T1 in FIG. 9). On the other hand, the switching unit 445 reduces the coefficient α when the vibration is other than amplification (T2 in FIG. 9). Also in this case, the same effect as described above is obtained.

<6. Effect of Embodiment>
The active vibration damping device 1 according to the first to fifth embodiments includes an actuator 10 that applies vibration to the vibration damping target 2, and control devices 40 and 140 that output periodic control signals to the actuator 10. 240, 340, 440 and a setting sensor 30 for detecting a state signal correlated with the vibration force of the actuator 10.

The control devices 40, 140, 240, 340, 440 correspond to the target generators 41, 141, 341 that generate the target control signal Y ₁ corresponding to the excitation force, and the integrated value or the differential value of the target control signal Y _1. Control signal generators 42, 144 and 342 for generating the phase adjustment signals Y _a and Y _b , and a control signal by performing a predetermined adjustment process on the target control signal Y ₁ and the phase adjustment signals Y _a and Y _b . The control signal generation units 43, 143, and 243 that generate Y ₂ , Y ₁₂ , and Y ₂₂ are included.

Further, the control devices 40, 140, 240, 340, 440 obtain the first state signal Y ₄ detected by the setting sensor 30 when the first control signal Y ₃ is output to the actuator 10. An acquisition unit 45, a difference calculation unit 46 that calculates a difference in amplitude and phase between the first control signal Y ₃ and the first state signal Y _4, and a process that determines a predetermined adjustment process based on the difference. And a determining unit 48.

The control signal generators 43, 143, 243 of the control devices 40, 140, 240, 340, 440 use the target control signal Y ₁ and the phase adjustment signals Y _a , Y _b , and then the target control signal Y ₁ and the phase. The control signals Y ₂ , Y ₁₂ , and Y ₂₂ are generated by performing a predetermined adjustment process on the adjustment signals Y _a and Y _b . Therefore, the control devices 40, 140, 240, 340, and 440 have the phase adjusting function, so that the generated control signals Y ₂ , Y ₁₂ , and Y ₂₂ can be matched with a desired phase. Then, the phase adjustment signals Y _a and Y _b correspond to the integral value or the differential value of the target control signal Y ₁ . Therefore, the generation of the phase adjustment signals Y _a and Y _b is easy.

Further, the control devices 40, 140, 240, 340, 440 include a first state signal acquisition unit 45, a difference calculation unit 46, and a process determination unit 48. With these configurations, the predetermined adjustment processing executed by the control signal generation units 43, 143, 243 can be easily determined. In particular, since the phase adjustment signals Y _a and Y _b are signals corresponding to the integrated value or the differential value of the target control signal Y ₁ , the processing determination unit 48 can easily and reliably determine the predetermined adjustment processing. Then, the determined predetermined adjustment process includes a phase shift generated when the control device 40, 140, 240, 340, 440 generates the control signals Y ₂ , Y ₁₂ , Y ₂₂ from the target control signal Y ₁ , and The processing takes into account the control signals Y ₂ , Y ₁₂ , Y ₂₂ and the phase shift generated by the actuator 10. As a result, the vibration generated by the actuator 10 can be matched with the desired phase, and the vibration damping effect can be reliably exhibited.

Further, the process determining unit 48 detects the control signal Y ₆ based on the reference target control signal Y ₅ and detects the setting sensor 30 when the generated control signal Y ₆ is output to the actuator 10. The predetermined adjustment process is determined so that the state signal Y ₇ and the reference target control signal Y ₅ are matched.

As a result, in the vibration damping control by the control device 40, the control signal Y ₂ is generated so that the target control signal Y ₁ and the acceleration of the mass 12 match. Therefore, the actuator 10 driven by the control signal Y ₂ adjusted using the coefficients β and γ can generate an exciting force that matches the desired phase.

Further, in the control devices 240, 340, 440 of the third embodiment, the fourth embodiment, and the fifth embodiment, the adjustment signal generation units 42, 144 perform integration or differentiation processing on the target control signal Y ₁ . by applying a plurality of phase adjustment signal Y _a, and generates a Y _b, the control signal generating unit 243 performs predetermined adjustment processing to the target control signal Y ₁ and a plurality of phase adjustment signal Y _a, Y _b As a result, the control signal Y ₂₂ is generated. As described above, by using the plurality of phase adjustment signals Y _a and Y _b , it is possible to perform an appropriate adjustment process according to the vibration state.

Further, the active vibration damping device 1 of the fifth embodiment includes a control sensor 20 that detects the vibration of the vibration damping target 2. Then, the target generator 141 generates the target control signal Y ₁ based on the vibration detected by the control sensor 20. The control signal generation unit 243 generates a control signal Y ₂₂ according to the vibration state by performing different predetermined adjustment processes according to the vibration state. Accordingly, it is possible to perform appropriate adjustment processing according to the vibration state of the vibration suppression target 2. As a result, a high vibration damping effect can be obtained.

More specifically, the control signal generation unit 243 performs an adjustment process that reduces the number of integration processes when the vibration is amplified, and an adjustment process that increases the number of integration processes when the vibration is in a state other than amplification. I tried to apply. Thus, when vibration is amplified, processing with good responsiveness can be performed, and when vibration is other than amplification, processing with good stability can be performed.

Further, in the fifth embodiment, the control sensor 20 detects the acceleration of the vibration suppression target 2, and the target generation unit 141 generates the target control signal Y ₁ by integrating the acceleration of the vibration suppression target 2. the first adjustment signal generating unit 144 generates an acceleration of the vibration control object 2 detected by the control sensor 20 as a first phase adjustment signal Y _b. The control signal generation unit 243 performs an adjustment process to increase the coefficient α corresponding to the weighting coefficient of the first phase adjustment signal Y _b when the vibration is in the amplification state, and when the vibration is in a state other than the amplification, the first phase adjustment signal is generated. Adjustment processing is performed to reduce the coefficient α corresponding to the weighting coefficient of the adjustment signal Y _b . Also in this case, the same effect as described above is obtained.

In addition, in the active type vibration damping device 1 of the first embodiment to the fifth embodiment, the actuator 10
Is configured to include a spring element 11 attached to the vibration suppression target 2, a mass 12 attached to the spring element 11 and vibrating with respect to the vibration suppression target 2, and a drive device 13 for driving the mass 12. Then, the setting sensor 30 detects the acceleration of the mass 12 as a state signal. As a result, the setting sensor 30 can reliably and easily acquire the state signal that correlates with the exciting force of the actuator 10. As a result, the adjustment processing in the control signal generation units 43, 143, 243 can be determined more appropriately.

1: Active type vibration damping device, 2: Damping target, 10: Actuator, 11: Spring element, 12: Mass, 13: Drive device, 20, 120, 220: Control sensor, 30: Setting sensor, 40, 140, 240, 340, 440: control device, 41, 141, 341: target generation unit, 42, 144, 342: adjustment signal generation unit, 43, 143, 243: control signal generation unit, 44: first control signal generation parts, 45: first state signal acquiring unit, 46: differences calculation section, 47: reference target signal generating unit, 48: processing determination unit, 50: amplifying circuit, 445: switching unit, _{Y 1:} a target control signal, Y _{2, Y} 12, _{Y 22:} control signals, _{Y 3:} the first control signal, _{Y 4:} the first state signal, _{Y 5:} reference target control signal, _{Y 6:} control signal, _{Y 7:} state signal, _Y a, Y _b : Phase adjustment signal, α, β, γ: Coefficient

Claims (6)

An actuator that applies vibration to the vibration suppression target,
A control device for outputting a periodic control signal to the actuator,
A setting sensor that detects a state signal that correlates to the excitation force of the actuator,
Equipped with
The control device is
A target generator that generates a target control signal corresponding to the exciting force,
An adjustment signal generation unit that generates a phase adjustment signal corresponding to an integral value or a differential value of the target control signal,
The control signal is based on a signal obtained by performing adjustment processing using a first weighting coefficient on the target control signal and a signal obtained by performing adjustment processing using a second weighting coefficient on the phase adjustment signal. A control signal generation unit for generating
Equipped with
The control device is
To determine the first weighting factor and the second weighting factor,
A signal acquisition unit that acquires a first state signal detected by the setting sensor when outputting a first control signal for determining a coefficient to the actuator,
A difference calculation unit that calculates a difference in amplitude and phase between the first control signal and the first state signal,
A processing determination unit that determines the first weighting factor and the second weighting factor based on the difference;
Further equipped with ,
It is assumed that a coefficient determination control signal corresponding to the control signal is generated based on a reference target control signal for coefficient determination corresponding to the target control signal, and the coefficient determination control signal is output to the actuator. Assuming that, the first condition is that the coefficient determination state signal corresponding to the state signal and the reference target control signal match,
A second condition is that the difference in amplitude and phase between the coefficient determining control signal and the coefficient determining state signal matches the difference calculated by the difference calculating unit,
Wherein the processing determination unit, that determine the first weighting factor and the second weighting coefficient that satisfies the first condition and the second condition, the active damping system. The adjustment signal generation unit generates a plurality of phase adjustment signals by performing integration or differentiation processing on the target control signal,
The control signal generator generates the control signal by performing the adjustment processing on the target control signal and the plurality of phase adjustment signal, active damping device according to claim 1. The active vibration damping device includes a control sensor for detecting the vibration of the vibration damping target,
The target generation unit generates the target control signal based on the vibration detected by the control sensor,
Said control signal generating unit, by performing the adjustment processing varies depending on the state of the vibration, it generates the control signal in accordance with a state of the vibrating, active damping device according to claim 1 or 2 .. The control signal generation unit,
Wherein in a state where vibration is amplified, subjected to the adjustment process to reduce the number of times of the integration processing,
Wherein when vibration is in a state other than amplification, performs the adjustment process to increase the number of integration process, the active vibration damping device according to claim 3. The control sensor detects the acceleration of the damping target,
The target generation unit generates the target control signal by integrating the acceleration of the vibration suppression target,
The adjustment signal generation unit generates the acceleration of the damping target detected by the control sensor as the phase adjustment signal,
The control signal generation unit,
Wherein in a state where vibration is amplified, subjected to the adjustment process of increasing the second weighting factor for the phase adjustment signal,
The active vibration damping device according to claim 3 , wherein when the vibration is in a state other than amplification, the predetermined adjustment processing for reducing the second weighting coefficient for the phase adjustment signal is performed. The actuator is
A spring element attached to the damping object,
A mass that is attached to the spring element and vibrates with respect to the damping target,
A drive device for driving the mass;
Equipped with
The setting sensor detects the acceleration of the mass as the state signal, the active damping device according to any one of claims 1 5.

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