JP7197774B2 - Vibration damping device, vehicle equipped with vibration damping device, and method for determining stability of vibration damping device - Google Patents

Description

According to the present invention, the reverse transfer characteristic of the vibration transfer characteristic on the vibration transfer path from the vibrating means to the position to be damped is set in advance, and the vibration to be damped is determined using the set reverse transfer characteristic. The present invention relates to a vibration damping device that suppresses vibration, a vehicle equipped with the vibration damping device, and a stability determination method for the vibration damping device.

2. Description of the Related Art Conventionally, there has been known a vibration damping device for canceling vibration generated by a vibration generating source such as an engine of a vehicle and canceling vibration generated by vibrating means at a position to be damped. As such a conventional vibration damping device, in Patent Document 1, a canceling vibration having an opposite phase to the vibration transmitted from the vibration source to the position to be damped is generated at the position to be damped through a vibrating means. It describes what makes it possible. In generating the canceling signal, the amplitude or phase of the vibration generated by the vibrating means changes in the process of being transmitted to the position to be damped. Vibration must be generated by the vibrating means so that Therefore, in Patent Document 1, the inverse transfer characteristic of the vibration transfer characteristic that changes the amplitude and phase of the vibration transmitted from the vibrating means to the position to be damped is stored in advance in the adaptive control algorithm, and the vibration damping is performed. The offset vibration is calculated by adding the reverse transfer characteristic to the vibration obtained by inverting the waveform of the pseudo vibration simulating the vibration at the position.

Patent No. 5353662

However, the vibration transfer characteristics change over time, and especially when the phase component of the vibration transfer characteristics changes, the vibration transfer characteristics of the system and the reverse transfer characteristics in the adaptive control algorithm diverge. As a result, the damping effect is reduced, leading to deterioration in ride comfort, and if the amount of change in the characteristic exceeds the stability limit of the adaptive control system, the adaptive control will fail.

In order to solve such a problem, it is necessary to estimate whether the phase error between the phase of the vibration transfer characteristic of the system and the phase of the reverse transfer characteristic stored in advance in the algorithm is within the stability limit range. It is mentioned as one effective means.

The inventors of the present invention focused on the behavior of vector reconvergence when the adaptive filter coefficient was intentionally varied with respect to the inverse transfer characteristics stored in the adaptive control algorithm. We found that vectors exhibit different convergence behavior depending on their magnitude.

SUMMARY OF THE INVENTION An object of the present invention is to provide a control system that makes it possible to determine whether the phase error between the vibration transfer characteristic of the system and the inverse transfer characteristic stored in advance in the algorithm is in the region in which adaptive control operates stably. An object of the present invention is to provide a vibration device, a vehicle equipped with the vibration damping device, and a method for determining the stability of the vibration damping device.

In order to solve this problem, the present invention takes the following measures.
That is, the vibration damping device according to the present invention uses an adaptive control algorithm to cancel the vibration generated by the vibration source and the canceling vibration generated through the vibrating means at the position to be damped. A pseudo-vibration required to cancel the vibration transmitted to the position to be damped is calculated, and based on the calculated pseudo-vibration, the counter-vibration is generated at the position to be damped through the vibrating means, and the generated cancellation The adaptive control algorithm operates so that the vibration remaining as a cancellation error between the vibration and the vibration transmitted from the vibration source to the position to be damped is detected, and the vibration remaining as the detected cancellation error is reduced, A reverse transfer characteristic of a vibration transfer characteristic that changes the amplitude and phase of the vibration transferred from the vibrating means to the position to be damped is stored in the adaptive control algorithm in advance, and the canceling vibration is reverse to the pseudo vibration. A damping device that is calculated taking transfer characteristics into account, comprising: adaptive filter coefficient varying means for multiplying the inverse transfer characteristics stored in the adaptive control algorithm by an integral value manipulated variable; and the adaptive filter coefficient variable. A variation calculation for calculating a variation in magnitude of a command vector having amplitude information and phase information corresponding to the amplitude and phase of a drive command signal for driving the vibrating means when multiplied by the integral value manipulated variable by the means. and storage means for storing in advance the relationship between the amount of variation in the magnitude of the command vector and the phase error of the vibration transfer characteristic, the amount of variation in the magnitude of the command vector calculated by the variation amount calculation means, A phase error of the vibration transfer characteristic is estimated based on the relationship stored in the storage means.

As a result, in the vibration damping device according to the present invention, the inverse transfer characteristic stored in the adaptive control algorithm is intentionally given an integral value manipulated variable to destabilize it. Based on the amount of variation in the magnitude of the command vector corresponding to the command signal, it is possible to properly estimate the phase error of the vibration transfer characteristics of the system.

According to the vibration damping device of the present invention, the vibration transmission characteristics are calculated based on the amount of variation in the magnitude of the command vector calculated by the variation amount calculating means and the amount of variation in the magnitude of the command vector stored in the storage means. is in the stable region of the adaptive control system.

As a result, in the vibration damping device according to the present invention, the inverse transfer characteristic stored in the adaptive control algorithm is intentionally given an integral value manipulated variable to destabilize it. Based on the amount of variation in the magnitude of the command vector corresponding to the command signal, it is possible to properly determine whether the phase error of the vibration transfer characteristic is within the stable region of the adaptive control system.

A vehicle according to the present invention includes the vibration damping device of the present invention. As a result, the vehicle according to the present invention can provide passengers with a comfortable ride.

A control method for a vibration damping device according to the present invention uses an adaptive control algorithm to cancel the vibration generated by the vibration source and the canceling vibration generated through the vibrating means at a position to be damped. A pseudo-vibration required to offset the vibration transmitted to the position to be damped is calculated, and based on the calculated pseudo-vibration, the counter-vibration is generated at the position to be damped through the vibrating means. The adaptive control algorithm works so that the vibration remaining as the offset error between the offset vibration and the vibration transmitted from the vibration source to the position to be damped is detected, and the detected vibration remaining as the offset error is reduced. , the inverse transfer characteristic of the vibration transfer characteristic that changes the amplitude and phase of the vibration transmitted from the vibrating means to the position to be damped is stored in the adaptive control algorithm in advance, and the counter-vibration is applied to the pseudo vibration. An adaptive filter coefficient variable step for multiplying the reverse transfer characteristic stored in the adaptive control algorithm by an integral value manipulated variable. and an amount of variation in the magnitude of a command vector having amplitude information and phase information corresponding to the amplitude and phase of the drive command signal for driving the vibrating means when multiplied by the integral value manipulated variable by the adaptive filter coefficient varying step. a variation amount calculation step of calculating a variation amount calculation step, a variation amount of the magnitude of the command vector calculated by the variation amount calculation step, a variation amount of the magnitude of the command vector and the phase of the vibration transmission characteristic stored in advance in the storage means and a phase error estimation step of estimating the phase error of the vibration transfer characteristic based on the relationship with the error.
Thus, in the control method of the vibration damping device according to the present invention, the vibration excitation means when the inverse transfer characteristic stored in the adaptive control algorithm is destabilized by intentionally giving the integral value manipulated variable is provided. It is possible to properly estimate the phase error of the vibration transmission characteristics of the system based on the amount of variation in the magnitude of the command vector corresponding to the drive command signal for driving.
In the vibration damping device control method according to the present invention, it is determined whether or not the phase error of the vibration transfer characteristic is in the stable region of the adaptive control system based on the phase error of the vibration transfer characteristic estimated by the phase error estimation step. It is characterized by comprising a stability determination step.

Thus, in the control method of the vibration damping device according to the present invention, the vibration excitation means when the inverse transfer characteristic stored in the adaptive control algorithm is destabilized by intentionally giving the integral value manipulated variable is provided. Whether or not the phase error of the vibration transfer characteristics of the system is in the stable region of the adaptive control system can be determined based on the amount of variation in the magnitude of the command vector corresponding to the drive command signal for driving.

In the vibration damping device control method according to the present invention, the vibration damping device is mounted on a vehicle, and the adaptive filter coefficient varying step is performed when the vehicle is idling, or when the vehicle is running at a constant speed or at a constant speed. It is characterized in that it is performed in the case of a slow acceleration/slow deceleration state.

As a result, in the control method of the vibration damping device according to the present invention, the inverse transfer characteristic stored in the adaptive control algorithm is multiplied by the integral value manipulated variable when the vibration damping state is stable. Whether or not the characteristic phase error is in the stable region of the adaptive control system can be properly determined.

As described above, according to the present invention, when the adaptive filter coefficient is intentionally varied and destabilized with respect to the inverse transfer characteristic stored in the adaptive control algorithm, it corresponds to the drive command signal for driving the vibrating means. Based on the different convergence behavior of the command vectors, it is possible to determine whether or not the adaptive control is in a stable operating region.

1 is a schematic configuration diagram in which a vibration damping device according to an embodiment of the present invention is applied to a vehicle; FIG. 2 is a schematic configuration diagram of a vibrating means having a linear actuator that constitutes the vibration damping device of FIG. 1. FIG. 2 is a block diagram showing a configuration related to damping control of the damping device of FIG. 1; FIG. FIG. 4 is an explanatory diagram showing adaptive filter coefficients and a command vector Ve1A expressed by the coefficients; FIG. 10 is an explanatory diagram of vibration remaining as a canceling error between vibration transmitted from a vibration source to a position to be damped and the canceling vibration; 2 is a block diagram illustrating a method of multiplying an integral value manipulated variable in the vibration damping device of FIG. 1; FIG. FIG. 10 is a diagram showing behavior of a command vector Ve1A by multiplying an integral value manipulated variable; FIG. 10 is a diagram showing behavior of a command vector Ve1A by multiplying an integral value manipulated variable; FIG. 10 is a diagram showing behavior of a command vector Ve1A by multiplying an integral value manipulated variable; FIG. 10 is a diagram showing behavior of a command vector Ve1A by multiplying an integral value manipulated variable; FIG. 10 is a diagram showing the behavior of the evaluation value of the command vector Ve1A when multiplied by the integral value manipulated variable in control states with various phase errors; FIG. 9 is a diagram showing the behavior of a command vector Ve1A when multiplied by an integral value manipulated variable in control states with various phase errors; FIG. 10 is a diagram for explaining the relationship between the evaluation value V of the command vector Ve1A and the phase error Δφ of the vibration transfer characteristic when multiplied by the integral value manipulated variable in control states having various phase errors; It is a figure explaining the calculation flow of the evaluation value V of command vector Ve1A. FIG. 4 is a diagram illustrating a method of estimating a phase error Δφ of vibration transfer characteristics; FIG. 4 is a diagram for explaining a specific example of a method of estimating a phase error Δφ;

A vibration damping device according to an embodiment of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, the vibration damping device of this embodiment is mounted on a vehicle such as an automobile. , a vibrating means 2 using a linear actuator 20 for generating a linear actuator vibrating vibration Vi2 by vibrating an auxiliary mass 2a having a predetermined mass, and an ignition pulse signal of the engine, which is a vibration source gn, and vibration detecting means. The vibration detection signal from 1 is inputted, and the linear actuator excitation vibration Vi2 generated by the vibration means 2 passes through the vibration transmission characteristic G from the vibration means to the vibration detection means, and reaches the position where vibration should be suppressed. and a control means 3 for generating offset vibration Vi4 at a position pos to be damped by transmitting it to pos, and engine vibration generated by a vibration source gn such as an engine mounted on the vehicle body frame frm via a mounter gnm. The source vibration Vi3 and the canceling vibration Vi4, which Vi1 reaches via the transmission characteristic G' from the vibration source to the vibration detecting means 1, overlap at the vibration detecting means pos and cancel each other, thereby reducing the vibration at the position pos. It is.

Vibration detection means 1 uses an acceleration sensor or the like to detect principal vibration in the same direction as the principal vibration direction of the engine, and outputs detected excitation vibration sg{=A1 sin(θ+φ)} and θ=ωt.

As shown in FIG. 2, the linear actuator 20 has a stator 22 having a permanent magnet fixed to the vehicle body frame frm, and reciprocating motion in the same direction as the vibration direction to be suppressed (vertical motion in FIG. 23 is a reciprocating type. Here, it is fixed to the body frame frm so that the direction of vibration to be suppressed of the body frame frm and the reciprocating direction (thrust force direction) of the mover 23 match. The mover 23 is attached to the shaft 25 together with the auxiliary mass 21, and the shaft 25 is supported by the stator 22 via the leaf spring 24 so that the mover 23 and the auxiliary mass 21 can move in the thrust direction. The linear actuator 20 and the auxiliary mass 21 constitute a dynamic vibration absorber.

When an alternating current (sine wave current, rectangular wave current) is passed through a coil (not shown) that constitutes the linear actuator 20, the magnetic flux of the permanent magnet moves from the S pole to the N pole when the current flows in the coil in a predetermined direction. A magnetic flux loop is formed by being guided to the poles. As a result, the mover 23 moves in a direction (upward) against gravity. On the other hand, when a current is passed through the coil in the direction opposite to the predetermined direction, the mover 23 moves in the gravitational direction (downward). The mover 23 repeats the above operation by alternately changing the direction of current flow to the coil due to the alternating current, and reciprocates with respect to the stator 22 in the axial direction of the shaft 25 . As a result, the auxiliary mass 21 joined to the shaft 25 vibrates vertically. The mover 23 has its movement range restricted by a stopper (not shown). A dynamic vibration absorber composed of a linear actuator 20 and an auxiliary mass 21 adjusts the damping force by controlling the acceleration of the auxiliary mass 21 based on a current control signal ss output from the amplifier 6, thereby increasing the vibration of the vehicle body. Vibration can be reduced by canceling out the vibration generated in the frame frm.

The control means 3 suppresses vibration from the vibration source gn in order to generate, at the position pos to be suppressed, a canceling vibration Vi4 that accurately cancels the vibration Vi3 transmitted from the vibration source gn to the position pos to be suppressed. A pseudo-vibration Vi3′ simulating the source vibration Vi3 transmitted to the desired position pos is calculated using an adaptive control algorithm. generate Further, the control means 3 causes the vibration detecting means 1 to detect the residual vibration (error vibration) (Vi3+Vi4) remaining as the cancellation error between the canceling vibration Vi4 transmitted from the vibrating means 2 to the position pos to be damped and the vibration Vi3. Vibration suppression control is performed by learning and adapting the adaptive control algorithm so that the residual vibration remaining as the detected offset error is reduced and the pseudo vibration converges to the true value.

First, referring to FIGS. 1 to 3, etc., a description will be given of the control system when the transfer characteristics are not taken into account. By inputting the current control signal ss to the linear actuator 20 based on the above, the canceling vibration Vi4 having the opposite phase to the vibration Vi3 from the vibration source gn is generated through the vibrating means 2 at the position pos to be damped. The frequency of the vibration Vi3 at the position pos to be damped is estimated based on the ignition pulse signal of the engine as the vibration related to the vibration Vi1 generated by the vibration source gn, and the calculated recognition frequency f is calculated by the basic electrical angle calculating means. 51 to calculate the basic electrical angle θ. The reference wave generating means 52 generates a sine wave sin θ and a cosine wave cos θ, which are reference waves, based on the calculated basic electrical angle θ.

Vibration is transmitted to the position to be damped by the vibrating means 2, and the source vibration is canceled by the canceller 64 represented by an adder, leaving residual vibration. The residual vibration detected by the vibration detection means 1, that is, the detected excitation vibration sg{=A1sin(θ+φ)} is multiplied by 2μ (twice the convergence coefficient μ) in the multiplier 53, and then converted to the reference value in the multipliers 54 and 55. It is multiplied by the sine wave sin .theta. or the reference cosine wave cos .theta. The calculation results are calculated as adaptive filter coefficients Re and Im in adaptive control, and can be expressed as (Re, Im)=(A1'cosφ', A1'sinφ'). Also, taking the adaptive filter coefficient Re on the horizontal axis and Im on the vertical axis, they can be expressed as vectors Ve2A and Ve3A, respectively, as shown in FIG. At this time, the combined vector of the vectors Ve2A and Ve3A (hereinafter referred to as command vector Ve1A) becomes Ve1A.

On the other hand, based on the corrected electrical angle (θ-ΔΦ) obtained by subtracting the transfer characteristic phase error ΔΦ from the basic electrical angle θ, the corrected reference wave generating means 61 generates the corrected sine wave sin (θ-ΔΦ) and the corrected cosine wave cos Generate (θ-ΔΦ).

The calculated adaptive filter coefficients Re and Im are multiplied by the corrected cosine wave and the corrected sine wave, respectively. A damping current command Ia {=−1×A1′sin(θ+φ′)} of a vibration canceling signal as a wave signal is generated. When the integration is repeated, as A' and φ' converge to the values corresponding to the true values A and φ, the vibration is canceled, but since the fundamental frequency f and the phase θ are constantly changing, they always follow the change. Control is performed in the form of

As described above, the adaptive filter coefficients (Re, Im) are multiplied by the corrected sine wave sin (θ-ΔΦ) and the corrected cosine wave cos (θ-ΔΦ), respectively, and then added together. '-ΔΦ). Here, actually, it is necessary to compensate the phase component of the transfer characteristic until the vibration by the vibrating means 2 is transmitted to the position pos to be damped. and the inverse transfer characteristic (inverse transfer function) of the phase component are generated, but are not shown for the sake of simplicity of explanation. Specifically, the amplitude component of the inverse transfer function corresponding to the frequency is stored in advance, the amplitude component 1/G of the inverse transfer function is specified based on the recognition frequency f, and the pseudo vibration is multiplied by it. Similarly, the phase component P of the inverse transfer function corresponding to the frequency is stored in advance, and the phase component P of the inverse transfer function calculated based on the recognition frequency f is added to the corrected electrical angle θ-ΔΦ.

In the following, the content in which the inverse transfer characteristic of the phase component P is added to the vibration canceling signal based on the adaptive filter coefficients (Re, Im) will be described, and the content in which the inverse transfer function 1/G of the amplitude component is added will be described. omitted. Therefore, when the phase component P of the inverse transfer characteristic is specified based on the recognition frequency f in the transfer characteristic compensation means 61, the phase component P of the inverse transfer characteristic is added when the phase error Δφ described later does not occur. A sine wave sin(θ+P) and a cosine wave cos(θ+P) are generated as transfer characteristic compensation signals. The amplitude component 1/G is not shown in FIG. 3 because it is not considered. This transfer characteristic compensation signal is multiplied by the vibration canceling signal based on the applied filter coefficients (Re, Im) in the multipliers 58 and 59, and then added together to finally output the vibration canceling signal A1′sin(θ+P). becomes. If the phase component P specifying this transfer characteristic matches the actual transfer characteristic of the vehicle, and if the electrical angle θ+φ of the vibration canceling signal matches the electrical angle θ+φ of the vibration at the position pos where the vibration should actually be damped, The vibration at the damped position pos should approach zero.

However, as described above, the vibration transfer characteristics change over time. For example, as shown in FIG. is shifted by the transfer characteristic phase error .DELTA..phi., the adaptive control algorithm works in that state, and damping control is performed to converge the pseudo-vibration to the true value.

Therefore, in the transfer characteristic compensation means 61, the sine wave sin (θ+P-Δφ) and the cosine wave cos (θ+P-Δφ) are generated as the phase difference compensation signal to which the phase component P of the reverse transfer characteristic is added. Become. Since P is the phase component of the reverse transfer characteristic, it is canceled when the canceling signal is transmitted. This is an error that occurs during transmission and is not recognized by control.

Therefore, on the control block that considers this phase error Δφ, in the multipliers 58 and 59, the inverse transfer of the phase to the applied filter coefficients (Re, Im)=(A1′cosφ′, A1′sinφ′) is performed. The phase difference compensation signals sin (θ+P-Δφ) and cos (θ+P-Δφ) with a function added are multiplied, and the results are added in the adder 60 to obtain the pseudo vibration Vi3′ {= A1′ of the detected excitation vibration sg. sin(θ+φ′+P−Δφ)}. By multiplying the pseudo vibration Vi3' by -1 in a multiplier 63, a damping current command Ia {=-A1'sin(θ+φ'+P+Δφ)} for the canceling vibration Vi4 as a negative-phase sine wave signal is generated.

Initially, the control works well because the phase component P of the inverse transfer function is close to zero. That is, as shown in FIG. 1, the damping current command Ia for this damping vibration Vi4 is supplied to the vibrating means 2 via the amplifier 6, and the damping vibration Vi4 is generated at the position pos to be damped. In the adder 64, the vibration Vi3 transmitted from the vibration source gn to the position pos to be damped and the canceling vibration Vi4 transmitted from the vibrating means 2 to the position pos to be damped are added to obtain the canceling vibration Vi4 and the vibration The vibration detecting means 1 detects residual vibration remaining as an offsetting error with Vi3. After that, in a state where the phase component P of the vibration transfer characteristic is shifted by the transfer characteristic phase error Δφ, the adaptive control algorithm is learned and adapted so that the residual vibration remaining as the detected offset error is reduced, and the pseudo vibration converges to the true value. Vibration suppression control is performed to

After that, when the phase component P of the vibration transfer characteristics changes due to aging of the resin, springs, etc. that make up the vehicle body, a divergence occurs between the vibration transfer characteristics of the system and the reverse transfer characteristics in the adaptive control algorithm. For example, even if the sine wave vibration Vi3 of the source vibration transmitted to the position pos to be damped is transmitted to the position pos to be damped, the canceling vibration Vi4 having the same amplitude and the opposite polarity is transmitted to the position pos to be damped. , as shown in FIG. 5, Vi4 changes to the phase of Vi4', and the phases of both sine waves are shifted by the phase error Δφ, so residual vibration (Vi3+Vi4') remains and the phase error Δφ increases. Residual vibration also increases accordingly. As a result, the damping effect of the command vector Ve1A is reduced, leading to deterioration in ride comfort. Therefore, when estimating the phase error of the vibration transfer characteristics of the system, it is required to grasp whether the phase error Δφ is in the region where the adaptive control operates stably (hereinafter referred to as the stable region of the adaptive control system).

Focusing on the behavior of the command vector Ve1A, changes in the vibration transmission characteristics of the system can be grasped as changes in the command vector Ve1A. That is, the applied filter coefficient indicates the magnitude and direction of the command vector Ve1A. For example, the behavior of the command vector Ve1A when the vibration converges when the phase error Δφ is 10 degrees differs from the behavior of the command vector Ve1A when the vibration converges when the phase error Δφ is 30 degrees.

Therefore, as shown in FIG. 6, an adaptive filter coefficient variable means 3a is provided to multiply the integrated value (hereinafter referred to as the adaptive filter integrated value) when calculating the adaptive filter coefficient by the integrated value manipulated variable β to obtain a reverse transfer Intentionally vary the characteristic adaptive filter coefficients. FIG. 7 shows the residual when the integral value manipulated variable β (β=0.9) is temporarily multiplied so that the adaptive filter integral value decreases by 10% in the presence of the transfer characteristic phase error Δφ=0 deg. The time response (a) of the vibration Err and the vector locus (b) of the command vector Ve1A are shown. Similarly, FIG. 8 shows the result when the integral value is multiplied by the manipulated variable β (β=0.95) so that the integral value decreases by 5%. FIG. 10 shows the results when multiplied by the manipulated variable β (β=1.1) and the integral manipulated variable β (β=1.05) so that the integrated value increases by 5%. . FIG. 12 shows the vector trajectory of the command vector Ve1A when the integral amount manipulated variable β is temporarily multiplied such that the adaptive filter integral value increases or decreases by 5% in the presence of various phase errors Δφ.

FIG. 13 plots the average value of the stabilization behavior of the command vector for the amount of integral operation β (β=1.05) and the amount of integral operation β (β=0.95) for each phase error ΔΦ. Looking at the command vector Ve1A corresponding to each phase error Δφ from the origin, the command vector Ve1A average value is constant when the phase error Δφ is small, but the command vector Ve1A average value is constant when the phase error Δφ is large. trending downward. In this embodiment, as shown in FIG. 12, the command vector Ve1A is intentionally increased or decreased by 5% in the adaptive filter integral value, and the command vector Ve1A is calculated from the average magnitude of the vector when the vector trajectory reconverges. By calculating the amount of variation and using it as an evaluation value V (which will be described later), even if the phase error Δφ is unknown, it can be estimated from the evaluation value V whether the phase error Δφ is in an unstable region. be able to. As the variation amount of the command vector Ve1A, the command vector Ve1A handles the average value of the magnitude of the vector when the adaptive filter coefficient intentionally increases or decreases the adaptive filter integral value of the inverse transfer characteristic by 5%. , may be treated as the average magnitude of the vector when the integral value is reduced by 5%.

As shown in FIG. 1, the control means 3 of the present embodiment includes adaptive filter coefficient varying means 3a, variation calculating means 3b, storage means 3c, and stability determining means 3d. 3a, the integral manipulated variable β stored in the adaptive control algorithm is intentionally varied to calculate the evaluation value V, which is the amount of variation in the command vector Ve1A corresponding to the drive command signal for driving the vibrating means 2. , based on the relationship between the evaluation value V, which is the variation amount of the command vector Ve1A stored in the storage means 3c, and the phase error of the vibration transfer characteristic, it is determined whether the phase error Δφ is in the stable region of the adaptive control system.

The adaptive filter coefficient changing means 3a multiplies the inverse transfer characteristic stored in the adaptive control algorithm by the integral value manipulated variable β. In this embodiment, as shown in FIG. 6, the integrated value manipulated variable β is temporarily added to the system in the state where the phase error Δφ is generated on the transmission path. As described above, in the control block, in order to obtain evaluation data, the phase change input unit 62 assumes various phase changes and inputs them. It is varied to explore how the command vector Ve1A changes.

The adaptive filter coefficient varying means 3a can multiply the inverse transfer characteristic stored in the adaptive control algorithm by the integral value manipulated variable β (eg, β=0.9, 1.05, etc.). Note that the signal for multiplication by the integral value manipulated variable β may be, for example, a step-like signal that rapidly changes the adaptive filter coefficient, or a ramp-like signal that gradually changes the adaptive filter coefficient. may

For example, FIG. 7 shows the time response (a) of the residual vibration Err when the integral value manipulated variable β=0.9 is input at t=3.0 in the control state having the phase error Δφ=0 deg, and the command The vector trajectory (b) of vector Ve1A is shown. The adaptive filter coefficient changing means 3a intentionally changes the adaptive filter coefficient to change the magnitude of the command vector Ve1A corresponding to the drive command signal for driving the vibrating means 2, and the magnitude of the command vector Ve1A at that time A variation amount of √(Re ² +Im ² ) is calculated as an evaluation value V, and a change in the phase error Δφ of the vibration transmission characteristics with respect to the evaluation value V is derived. When the adaptive filter coefficient is intentionally varied to estimate the phase error Δφ of the vibration transfer characteristic during actual vehicle travel, FIGS.

The adaptive filter coefficient changing means 3a when the vehicle is running is adjusted when the vehicle equipped with the vibration damping device is, for example, idling, or when the vehicle is in a constant speed running state or a constant slow acceleration/deceleration state. When the damping state is stable, it is desirable to multiply the reverse transfer characteristic by the integral value manipulated variable β. At the time of evaluation, which will be described later in this embodiment, the reverse transfer characteristic is multiplied by the integral value manipulated variable β when the damping state is stable.

The fluctuation amount calculating means 3b corresponds to the amplitude and phase of the damping current command Ia for driving the vibrating means 2 when the inverse transfer characteristic stored in the adaptive control algorithm is multiplied by the integral value manipulated variable β. The amount of change in the magnitude of the command vector Ve1A having the amplitude information and phase information is calculated. In the present embodiment, the fluctuation amount calculation means 3b calculates the vector behavior when the vibration converges when the evaluation value V representing the fluctuation amount of the magnitude of the command vector Ve1A is multiplied by the integral value manipulated variable β as described above. It is calculated using the average value of the magnitude √(Re ² +Im ² ) of the command vector Ve1A that indicates the degree of . The command vector Ve1A corresponding to the damping current command Ia can be picked up in the addition process in the adder 60, for example.

The storage means 3c stores the change in the phase error Δφ of the vibration transmission characteristic with respect to the evaluation value V representing the amount of variation in the magnitude of the command vector Ve1A when multiplied by the integral value manipulated variable β, that is, the variation in the magnitude of the command vector Ve1A. The relationship between the amount and the amount of change in the phase error Δφ is stored. In this embodiment, as shown in FIG. 14, the storage means 3c stores the phase error Δφ of the vibration transmission characteristic with respect to the evaluation value V representing the amount of variation in the magnitude of the command vector Ve1A when multiplied by the integral value manipulated variable β. Memorize changes. This evaluation value V is calculated from [Formula 1] and [Formula 2] in FIG. 14, which will be described later.

In this embodiment, the evaluation value V is the average value of the magnitude √(Re ² +Im ² ) of the command vector Ve1A indicating the degree of vector behavior when the vibration converges, and is expressed by the following arithmetic expression.

ここで、［数１］［数２］のｎは，積分値操作量βを乗算した直後からの制御サンプリングごとのカウント数である。 In addition, in this embodiment, the sum of squares is applied so that the reference for the reference value amplitude 100 is easy to understand. Therefore, the arithmetic expression in this case is as follows.

Here, n in [Formula 1] and [Formula 2] is the number of counts for each control sampling immediately after the multiplication by the integral value manipulated variable β.

Briefly, FIG. 13 plots the amount of variation in the magnitude of the command vector Ve1A and the phase error Δφ at that time, with various values of the phase error Δφ changed.

The stability determination means 3d stores an evaluation value V representing the amount of change in the magnitude of the command vector Ve1A when the reverse transfer characteristic stored in the adaptive control algorithm is multiplied by the integral value manipulated variable β, and a storage means It is determined whether the phase error .DELTA..phi.

A method of determining whether or not the phase error of the vibration transfer characteristics of the system is in the stable region of the adaptive control system in the vibration damping device of this embodiment will be described below with reference to FIGS. 7 to 16. FIG. First, the behavior of the command vector Ve1A when the adaptive filter coefficient of the inverse transfer characteristic stored in the adaptive control algorithm is intentionally varied and destabilized will be described. In this embodiment, when the adaptive control is turned on, the adaptive filter coefficients (Re, Im) act so that the residual vibration Err becomes zero. The behavior of Re and Im on the Re-Im plane of the real axis Re and the imaginary axis Im is defined as vector behavior.

The behavior of the command vector Ve1A when the adaptive filter coefficient was intentionally varied was evaluated. Specifically, in a state in which a specific phase error Δφ is given to the vibration transfer characteristics, when the damping state is stabilized by adaptive control, at t=3.0, the integral value manipulated variable β=0.9, 0 The adaptive filter coefficients were intentionally varied by multiplying by 0.95, 1.05, 1.1.

(Evaluation conditions)
・Source vibration frequency: 100Hz
・Integral value manipulated variable β: 0.9, 0.95, 1.05, 1.1
・Transmission characteristic phase error Δφ: 0deg
・Source vibration amplitude: 100

7 to 10 show the evaluation results of the behavior of the command vector Ve1A when the adaptive filter coefficient is intentionally varied, as described above, and show the test results when the phase error Δφ of the vibration transfer characteristic is 0 deg. ing. FIGS. 7(a) to 10(a) show the time responses for the residual vibration Er. 7(b) to 10(b) show the behavior of the command vector Ve1A on the Re-Im plane.

As shown in FIGS. 7(a) to 10(a), when the phase error Δφ of the vibration transfer characteristics is 0 deg, the integral value is manipulated to increase or decrease the adaptive filter integral value by 5% and 10% at t=3.0. When the adaptive filter coefficients are intentionally varied by multiplying the quantity β, the residual vibration Err temporarily increases and then reconverges to 0 in any case. Therefore, it can be confirmed from FIGS. 7(a) to 10(a) that if the integral value manipulated variable β is the same, the damping effect is reduced to the same extent.

As shown in the behavior of the command vector Ve1A in FIG. 7(b), the adaptive filter coefficient is multiplied by the integrated value manipulated variable β=0.9 so as to decrease the adaptive filter integrated value by 10% at t=3.0. When it is intentionally changed, the adaptive filter considers that a disturbance corresponding to the integral value operation amount β = 0.9 has been input, and the coordinates {Re, Im} = {100, 0} to the coordinates {Re, Im} = { 90,0}. After that, it reconverges from the coordinates {Re, Im}={90, 0} to the coordinates {Re, Im}={100, 0} while moving up and down.

In contrast to the case of multiplying the integral value manipulation amount β=0.9 in FIG. 7B, as shown in FIG. 9B, by multiplying the integral value manipulation amount β=1.1 It can be confirmed that the characteristics opposite to those in FIG. That is, when the adaptive filter coefficient is intentionally changed by multiplying the integral value manipulation amount β=1.1 so as to increase the adaptive filter integral value by 10% at t=3.0, the adaptive filter performs the integral value manipulation It is assumed that a disturbance corresponding to the amount β=1.1 is input, and behaves so as to move from the coordinates {Re, Im}={100, 0} to the coordinates {Re, Im}={110, 0}. After that, it reconverges from the coordinates {Re, Im}={110, 0} to the coordinates {Re, Im}={100, 0} while moving up and down.

FIG. 12 shows the case where the adaptive filter coefficient of the inverse transfer characteristic is multiplied by the integrated value manipulated variable β from the stable state in the control state having various phase errors Δφ of the vibration transfer characteristic, and the adaptive filter coefficient is intentionally varied. command vector Ve1A. In this embodiment, the adaptive filter coefficient is intentionally varied by multiplying the integral value manipulation amount β so that the adaptive filter integral value of the inverse transfer characteristic increases or decreases by 5% from the stable state.

From FIG. 12, the command vector Ve1A deviates from the coordinates {Re, Im}=100{cos Δφ, sin Δφ} of the circular arc with a radius of 100 in the radial direction of the circular arc according to the multiplied integral value manipulated variable β. behave. After that, it reconverges to the coordinates {Re, Im}=100{cos Δφ, sin Δφ} while moving up and down.

Further, as the phase error Δφ increases, the amount of movement of the vector trajectory from when the command vector Ve1A deviates from the coordinates {Re, Im}=100 {cos Δφ, sin Δφ} until it reconverges increases. I understand. A large amount of movement of the vector locus means a large amount of variation in the magnitude of the command vector Ve1A.

Therefore, based on the behavior of the command vector Ve1A when the adaptive filter coefficient is intentionally varied (magnitude of movement of the trajectory, amount of variation in the magnitude of the command vector Ve1A, etc.), the phase error Δφ is determined by the adaptive control system is in the stable region.

In this embodiment, when determining whether or not the phase error Δφ of the vibration transfer characteristic is in the stable region of the adaptive control system, the integral value manipulated variable β is multiplied so as to increase or decrease the adaptive filter integral value by 5%. The evaluation value V is the amount of variation in the magnitude of the command vector Ve1A when the coefficient is intentionally varied.

Next, the behavior of the command vector Ve1A when destabilized by intentionally varying the adaptive filter coefficient of the inverse transfer characteristic stored in the adaptive control algorithm in a control state with various phase errors will be described. . In this embodiment, various phase errors Δφ are input to the phase change input unit 62, and after adaptive control is turned ON with various phase errors Δφ in the vibration transfer characteristics of the system, the adaptive filter coefficient (Re , Im) was intentionally varied, the behavior of the command vector Ve1A was evaluated. FIG. 11 shows an example of evaluation results of the behavior of the command vector Ve1A when the adaptive filter coefficients (Re, Im) are intentionally varied. The evaluation conditions at this time are as follows.

(Evaluation conditions)
・Source vibration frequency: 100Hz
・Phase error Δφ: 0deg, ±30deg, ±50deg
・Integral value manipulated variable β: -5%

FIG. 11(a) shows the time response of the command vector Ve1A when the adaptive filter integral value is decreased by 5% in an adaptive control system having positive phase errors Δφ=0deg, +30deg, +50deg. . Also, FIG. 11(b) shows the time response of the magnitude of the command vector Ve1A when the adaptive filter integral value is reduced by 5% in an adaptive control system having negative phase errors Δφ=0deg, -30deg, -50deg. is shown. In FIG. 11, at the timing of t=0, the operation amount β=0.95 is multiplied to reduce the adaptive filter integral value by 5%.

As shown in FIG. 11(a), when the phase error Δφ=30 deg, the behavior of the command vector Ve1A when the adaptive filter integral value is decreased by 5% is the same convergence behavior as when the phase error Δφ=0 deg. . Therefore, it can be determined that the phase error Δφ=30 deg is in the stable region of the adaptive control system. On the other hand, the behavior of the command vector Ve1A at the phase error Δφ=50 deg differs from the case of the phase error Δφ=0 deg. can be determined. Further, as shown in FIG. 11(b), when the phase error Δφ=−30 deg, the behavior of the command vector Ve1A when the adaptive filter integral value is decreased by 5% converges in the same manner as when the phase error Δφ=0 deg. Because of the behavior, it can be determined that the phase error Δφ=−30 deg is in the stable region of the adaptive control system. On the other hand, the behavior of the command vector Ve1A at the phase error Δφ=−50 deg is a convergence behavior accompanied by an overshoot unlike the phase error Δφ=0 deg, so the phase error Δφ=50 deg is not in the stable region of the adaptive control system. can be determined.

11(a) and 11(b) show the behavior of the evaluation value of the command vector Ve1A when the adaptive filter integral value is decreased by 5%. Even in this case, it is possible to similarly determine whether the phase error is in the stable region of the adaptive control system.

Next, in a control state having various phase errors, fluctuations in the evaluation value of the command vector Ve1A when the adaptive filter coefficient of the inverse transfer characteristic stored in the adaptive control algorithm is intentionally changed to make it unstable. will be explained. In this embodiment, FIG. 13 shows changes in the phase error Δφ of the vibration transfer characteristic with respect to the evaluation value V representing the amount of variation in the magnitude of the command vector Ve1A when the adaptive filter coefficient is intentionally varied.

As shown in FIG. 11, based on the behavior of the command vector Ve1A when the phase error Δφ=0 deg, the phase error of the vibration transmission characteristics depends on whether the behavior of the command vector Ve1A becomes a convergence behavior with overshoot. , it can be determined whether or not the adaptive control system is in the stable region. Also, as shown in FIG. 13, when the applied filter integral value is decreased by 5%, the command vector Ve1A reconverges most quickly near the phase error Δφ=0, and regardless of whether the phase error Δφ is positive or negative, the phase error The larger the absolute value of Δφ, the slower the reconvergence. Therefore, the evaluation value V of the command vector Ve1A forms a downwardly convex parabola with a quadratic function with the apex near the phase error Δφ=0. be done. Therefore, as shown in FIG. 13, the phase error Δφ can be estimated from the evaluation value V representing the amount of variation in the magnitude of the command vector Ve1A, and it can be determined whether or not the phase error Δφ is in the stable region of the adaptive control system.

For example, in FIG. 13, let V0, V1, and V2 be the evaluation values of the command vector Ve1A when the phase error Δφ=0 deg, −30 deg, and −50 deg when the adaptive filter integral value is decreased by 5%. Further, according to FIG. 11, the behavior of the command vector Ve1A at the phase error Δφ=−30 deg is the same convergence behavior as the case of the phase error Δφ=0 deg. is the same amount of variation as the evaluation value V0 of the command vector Ve1A at the phase error Δφ=0 deg, and it can be determined that the phase error Δφ=-30 deg is in the stable region of the adaptive control system. On the other hand, the behavior of the command vector Ve1A at the phase error Δφ=−50 deg differs from the case of the phase error Δφ=0 deg, and the convergence behavior is accompanied by an overshoot. is a variation amount different from the evaluation value V0 of the command vector Ve1A at the phase error Δφ=0 deg, and it can be determined that the phase error Δφ=-50 deg is not in the stable region of the adaptive control system. Therefore, it can be determined from the evaluation value of the command vector Ve1A whether the phase error is in the stable region of the adaptive control system.

As described above, in this embodiment, even if the vibration transfer characteristics of the system change over time and the phase component of the vibration transfer characteristics changes, the evaluation of the command vector Ve1A when the adaptive filter coefficient is intentionally changed Based on the values, it can be determined whether the phase error is in the stable region of the adaptive control system. Therefore, for example, when estimating and correcting the phase error of the vibration transfer characteristic, by estimating whether the phase error is in the stable region of the adaptive control system, the correction can be performed without causing the adaptive control to collapse. can.

Although it is determined whether the phase error is in the stable region of the adaptive control system based on the evaluation value of the command vector Ve1A, it can be determined by other methods. For example, it may be determined whether the phase error is in the stable region of the adaptive control system based on the state in which the amplitude rate of the residual amplitude Err cannot be maintained below 100%. In this case, it is determined whether the phase error is in the stable region of the adaptive control system based on the evaluation value of the command vector Ve1A at the phase error Δφ=±60 deg. Further, it may be determined whether the phase error is in the stable region of the adaptive control system based on the phase error Δφ (for example, Δφ=±55 deg) considering the safety factor and the like in this state.

In the same way as when the applied filter integral value is decreased, even when the applied filter integral value is increased, it is determined whether the phase error is in the stable region of the adaptive control system based on the evaluation value of the command vector Ve1A. can. In this case, as shown in FIG. 13, when the applied filter integral value is increased by 5%, the command vector Ve1A reconverges most quickly near the phase error Δφ=0, regardless of whether the phase error Δφ is positive or negative. The larger the absolute value of the phase error Δφ, the slower the reconvergence. Therefore, the evaluation value V of the command vector Ve1A becomes a convex quadratic parabola with the apex near the phase error Δφ=0. and the phase error Δφ are correlated.

A method of calculating the evaluation value V of the command vector Ve1A in this embodiment will be described with reference to FIG.

In step S1, it is determined whether or not the recognition frequency is stable (the damping state is stable). When the recognition frequency is stable, in step S2, the adaptive filter coefficient changing means 3a changes the integral value manipulated variable β (for example, β=0.9) to intentionally vary the adaptive filter coefficients. In step S3, the count number for each control sampling immediately after intentionally varying the adaptive filter coefficient is set to m=1, and in step S4, the magnitude of the command vector Ve1A √(Re ² +Im ² ) is calculated. do.

After that, in step S5, it is determined whether or not the count number m for each control sampling immediately after intentionally varying the adaptive filter coefficient is the same as n (m=n). If the count number m is not the same as n, m is incremented by 1 (m=m+1) in step S6, and the process proceeds to step S4. In step S5, if m is the same as n (m=n), in step S7, the amount of change in the magnitude of command vector Ve1A when intentionally varying the adaptive filter coefficient is calculated by the amount of variation calculating means 3b. An evaluation value V representing is calculated. After that, the evaluation value V is stored in the storage means 3c and the process ends.

In this embodiment, a method for determining whether or not the phase error Δφ of the vibration transfer characteristic is in the stable region of the adaptive control system based on the command vector Ve1A evaluation value V will be described with reference to FIG. 15 .

In this embodiment, the evaluation value V representing the amount of variation in the magnitude of the command vector Ve1A when multiplied by the integral value manipulated variable β and the evaluation value representing the amount of variation in the magnitude of the command vector Ve1A stored in the storage means 3c A case of estimating the phase error Δφ will be described by repeatedly performing comparison with Vref until the evaluation value V and the evaluation value Vref match.

In step S101, the number of times i is set to 1, and in step S102, the integral value manipulated variable β (for example, β=0.9) is applied to the adaptive filter integral value of the inverse transfer characteristic stored in the adaptive control algorithm. An evaluation value V at the time of multiplication is calculated. The method described above with reference to FIG. 15 is used as the method for calculating the evaluation value V. FIG. After that, in step S103, it is determined whether or not the number of times i≧2 and the signs of the evaluation value V(i) and the evaluation value V(i−1) are different. Therefore, in steps S102 to S107, the phase component P of the reverse transfer characteristic is shifted by ΔP so that the phase error Δφ corresponding to the evaluation value V calculated in step S102 is canceled, and the number of times i is increased by 1. , the sign of the evaluation value V changes from positive to negative or from negative to positive.

Specifically, when the evaluation value V calculated in step S102 is a positive value, the phase component P of the reverse transfer characteristic is shifted by -ΔP, and the number of times i is increased by 1, and then the process proceeds to step S102. Then, the evaluation value V is calculated. On the other hand, if the evaluation value V calculated in step S102 is a negative value, the phase component P of the reverse transfer characteristic is shifted by +ΔP, and the number of times i is increased by 1, and then the process proceeds to step S102. , the evaluation value V is calculated.

With respect to the above specific example, the case of estimating the phase error Δφ of the vibration transfer characteristic when the phase error Δφ is a positive value will be described with reference to FIG. 16 . In FIG. 16, since the evaluation value V(1) calculated at the number of times i=1 is a positive value, the phase component P of the inverse transfer characteristic is shifted by -ΔP, the number of times i is increased by 1, An evaluation value V(2) is calculated at the number i=2. Since the evaluation value V(2) is a positive value, the phase component P of the reverse transfer characteristic is shifted by -ΔP, the number of times i is increased by 1, and the evaluation value V(3) is obtained at the number of times i = 3. Calculate Similarly, since the evaluation values V(3), V(4), and V(5) calculated at the times i = 3, 4, and 5 are all positive values, the phase component P of the reverse transfer characteristic - ΔP shift and calculation of evaluation value V are repeated. The evaluation value V(6) calculated at the number i=6 is a negative value, and the sign of the evaluation value V changes from positive to negative. Therefore, since the evaluation value V(5) for the number of times i=5 and the evaluation value V(6) for the number of times i=6 have different signs, the process proceeds to step S108.

In step S108, it is determined whether or not the evaluation value V(i) is closer to 0 than the evaluation value V(i-1). ), the phase error Tmp is calculated based on whichever is closer to 0. After that, the phase error Tmp calculated in step S111 is subjected to offset processing, thereby completing the estimation of the phase error Δφ of the vibration transfer characteristics.

In the specific example of FIG. 16, the evaluation value V(5) and the evaluation value V(6) have different signs, and since the evaluation value V(6) is closer to 0 than the evaluation value V(5), the phase error Tmp=( 6-1)×ΔP is calculated to estimate the phase error Δφ of the vibration transfer characteristics.

As described above, the vibration damping device of this embodiment uses an adaptive control algorithm to cancel the vibration generated by the vibration source gn and the canceling vibration Vi4 generated through the vibrating means 2 at the damping position pos. to calculate the pseudo vibration Vi3′ required to cancel the vibration Vi3 transmitted from the vibration source gn to the position pos to be damped using generated at the position pos to be damped through, and the residual vibration remaining as the offset error between the generated offsetting vibration Vi4 and the vibration Vi3 transmitted from the vibration source gn to the position pos to be damped is detected, and the detected offsetting error is The adaptive control algorithm is learned and adapted so that the remaining residual vibration is reduced, and the inverse transmission characteristic of the vibration transmission characteristic that changes the amplitude and phase of the vibration transmitted from the vibrating means 2 to the position pos to be damped is adapted. A vibration damping device that is stored in advance in a control algorithm and in which the counter-vibration Vi4 is calculated by adding the reverse transfer characteristic to the pseudo vibration Vi3′, and the reverse transfer characteristic stored in the adaptive control algorithm Adaptive filter coefficient varying means 3a for multiplying the integrated value manipulated variable β, and corresponding to the amplitude and phase of the drive command signal for driving the vibrating means 2 when the integrated value manipulated variable β is multiplied by the adaptive filter coefficient varying means 3a a variation calculation means 3b for calculating a variation in the magnitude of the command vector Ve1A having amplitude information and phase information, and a memory storing in advance a change in the phase error of the vibration transmission characteristic with respect to the variation in the magnitude of the command vector Ve1A. Means 3c are provided.

The method of determining the stability of the vibration damping device of the present embodiment uses an adaptive control algorithm to cancel the vibration generated by the vibration source gn and the canceling vibration Vi4 generated through the vibrating means 2 at the position pos to be damped. to calculate the pseudo vibration Vi3′ required to cancel the vibration Vi3 transmitted from the vibration source gn to the position pos to be damped, and based on the calculated pseudo vibration Vi3′, the canceling vibration Vi4 is generated through the vibrating means 2. A residual vibration remaining as an offset error between the generated offsetting vibration Vi4 generated at the position pos to be damped and the vibration Vi3 transmitted from the vibration source gn to the position pos to be damped is detected, and remains as the detected offsetting error. The adaptive control algorithm is learned and adapted so that the residual vibration is reduced. A method for determining the stability of a vibration damping device, which is stored in advance in an algorithm and in which the counter-vibration Vi4 is calculated by adding a reverse transfer characteristic to the pseudo vibration Vi3′, wherein the reverse transfer stored in the adaptive control algorithm an adaptive filter coefficient variable step for multiplying the characteristic by the integral value manipulated variable β; a variation amount calculating step for calculating an amount of variation in the magnitude of the command vector Ve1A having amplitude information and phase information corresponding to; a variation amount in the magnitude of the command vector Ve1A calculated by the variation amount calculating step; and a stability determination step for determining whether or not the phase error Δφ of the vibration transfer characteristic is in the stable region of the adaptive control system based on the amount of variation in the magnitude of the command vector Ve1A stored in .

As a result, the vibration damping device and the vibration damping device according to the present invention can obtain the evaluation value V is calculated, and based on the evaluation value V, it is possible to determine whether or not the phase error Δφ of the vibration transfer characteristic is in the stable region of the adaptive control system.

The vehicle according to the present embodiment can provide the passenger with a comfortable ride by including the vibration damping device of the present invention.

Although one embodiment of the present invention has been described above, the specific configuration of each part is not limited to the above-described embodiment, and various modifications are possible without departing from the scope of the present invention.

In the above embodiment, as the evaluation value V based on the magnitude of the command vector Ve1A, the average value of the magnitude √(Re ² +Im ² ) of the command vector Ve1A indicating the vector behavior when the vibration converges is calculated. , the evaluation value based on the magnitude of the command vector Ve1A is not limited to this.

In the above embodiment, the phase error Δφ of the adaptive control system is calculated based on the evaluation value V representing the average magnitude of the command vector Ve1A when multiplied by the integral value manipulation amount β that increases or decreases the adaptive filter integral value by 5%. Although it is determined whether or not it is in the stable region, the manipulated variable β for increasing or decreasing the adaptive filter integral value is not limited to this.

In the above embodiment, when determining whether or not the phase error Δφ is equal to or less than the stability limit of the adaptive control system, the adaptive filter coefficient changing means 3a multiplies the adaptive filter integral value by the integral value manipulated variable β. , the case where the adaptive filter is varied has been described. Also, in order to eliminate the unstable state in which the current command has increased to the current upper limit clamp value, there is a control that reduces the adaptive filter integral value to reduce Re and Im. In this vibration damping device, when control is performed to eliminate the unstable state in which the current command has increased to the current upper limit clamp value, whether the phase error Δφ of the vibration transfer characteristics is in the stable region of the adaptive control system. You can judge.

In the above-described embodiment, the vibration damping device has the stability determination means 3d. It may not have the determination means 3d. Therefore, in the vibration damping device, although it is not determined whether the phase error of the vibration transmission characteristics is in the stable region of the adaptive control system, the vibration transmission for the evaluation value V based on the magnitude of the command vector Ve1A stored in the storage means 3c is determined. By using the change in the phase error Δφ of the characteristic, it becomes possible to determine whether the phase error of the vibration transfer characteristic is in the stable region of the adaptive control system, and the effect of the present invention can be obtained.

1 Vibration detection means 2 Vibration means 3 Control means 3a Adaptive filter coefficient varying means 3b Fluctuation amount calculation means 3c Storage means 3d Stability determination means

Claims (6)

An adaptive control algorithm is used to cancel the vibration transmitted from the vibration source to the position to be damped, in order to cancel the vibration generated by the vibration source and the damping vibration generated by the vibrating means at the damping position. A pseudo vibration necessary for vibration is calculated, based on the calculated pseudo vibration, the counteracting vibration is generated at a position to be damped through the vibrating means, and the generated counteracting vibration and the vibration are controlled from the vibration source. The adaptive control algorithm works so that the vibration remaining as an offset error with the vibration transmitted to the target position is detected, and the detected vibration remaining as an offset error is reduced. Vibration suppression in which reverse transfer characteristics of vibration transfer characteristics that change the amplitude and phase of transmitted vibration are stored in advance in the adaptive control algorithm, and the counter-vibration is calculated by adding the reverse transfer characteristics to the pseudo vibration. a device,
adaptive filter coefficient varying means for multiplying the inverse transfer characteristic stored in the adaptive control algorithm by an integral value manipulated variable;
The amount of change in the magnitude of a command vector having amplitude information and phase information corresponding to the amplitude and phase of a drive command signal for driving the vibration excitation means when multiplied by the integral value manipulated variable by the adaptive filter coefficient varying means. a variation calculation means for calculating;
storage means for pre-storing the relationship between the amount of variation in the magnitude of the command vector and the phase error of the vibration transfer characteristic;
A vibration damping device characterized by estimating a phase error of a vibration transmission characteristic based on the amount of variation in magnitude of the command vector calculated by the variation amount calculating means and the relationship stored in the storage means. The phase error of the vibration transmission characteristics is determined by the adaptive control system based on the amount of variation in the magnitude of the command vector calculated by the variation amount calculating means and the amount of variation in the magnitude of the command vector stored in the storage means. 2. The vibration damping device according to claim 1, further comprising stability determining means for determining whether or not the vehicle is in the stable region. A vehicle comprising the vibration damping device according to claim 1 or 2. An adaptive control algorithm is used to cancel the vibration transmitted from the vibration source to the position to be damped, in order to cancel the vibration generated by the vibration source and the damping vibration generated by the vibrating means at the damping position. A pseudo vibration necessary for vibration is calculated, based on the calculated pseudo vibration, the counteracting vibration is generated at a position to be damped through the vibrating means, and the generated counteracting vibration and the vibration are controlled from the vibration source. The adaptive control algorithm works so that the vibration remaining as an offset error with the vibration transmitted to the target position is detected, and the detected vibration remaining as an offset error is reduced. Vibration suppression in which reverse transfer characteristics of vibration transfer characteristics that change the amplitude and phase of transmitted vibration are stored in advance in the adaptive control algorithm, and the counter-vibration is calculated by adding the reverse transfer characteristics to the pseudo vibration. A device control method comprising:
an adaptive filter coefficient variable step for multiplying the inverse transfer characteristic stored in the adaptive control algorithm by an integral value manipulated variable;
A variation amount of a command vector having amplitude information and phase information corresponding to the amplitude and phase of a drive command signal for driving the vibrating means when the integrated value manipulated variable is multiplied by the adaptive filter coefficient varying step. A variation amount calculation step for calculating
Based on the relationship between the amount of variation in the magnitude of the command vector calculated in the variation amount calculating step and the amount of variation in the magnitude of the command vector stored in advance in the storage means and the phase error of the vibration transmission characteristics , the vibration and a phase error estimation step of estimating a phase error of the transfer characteristic. A stability determination step for determining whether the phase error of the vibration transfer characteristic is in a stable region of the adaptive control system based on the phase error of the vibration transfer characteristic estimated by the phase error estimation step. Item 5. A control method for a vibration damping device according to item 4. The damping device is mounted on a vehicle,
6. The adaptive filter coefficient varying step according to claim 4, wherein the step of varying the adaptive filter coefficient is performed when the vehicle is in an idling state, or when the vehicle is in a constant speed running state or a constant slow acceleration/deceleration state. A control method for a damping device.

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