JPH0736468A - Adaptive controller - Google Patents

Abstract

PURPOSE:To obtain reduction effects on various vibrations and noises over a wide frequency range even if there are a frequency band, vibrations, noises, etc., which can not be reduced by individual control wave motion generating means. CONSTITUTION:An engine mount 8 which generates control vibrations corresponding to a driving signal yv is interposed between an engine 4 and a vehicle body frame 5, a loudspeaker 11 is provided in a cabin 3 so that a control sound can be generated corresponding to a driving signal yNm, and functions required to generate a driving signal for an adaptive digital filter, etc., are provided corresponding to the engine mount 8 and loudspeaker 11. Then a convergence coefficient required to generate the driving signal yNm for the loudspeaker 11 positioned on the downstream side of the engine 4 is corrected corresponding to the update quantity of the filter coefficient of an adaptive digital filter required to generate the driving signal yv for the engine mount 8 positioned on the upstream side.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention aims to reduce noise and vibration by using an adaptive algorithm to generate control waves that interfere with unpleasant waves such as noise and vibration transmitted from noise sources and vibration sources. The present invention relates to an adaptive control device, and in particular, is capable of reliably exhibiting a reduction effect against various noises and vibrations in a wide frequency band.

[0002]

2. Description of the Related Art As a conventional adaptive control device, for example,
British Patent No. 2149614 and Japanese Patent Publication No. 1-501344
There is one described in the issue. These conventional devices are active noise reduction devices applied to aircraft cabins and similar closed spaces, in which a single noise source such as an engine located outside the closed space has a fundamental frequency f ₀ and Its harmonic f ₁
It operates under the condition that noise including ~ f _n is generated.

[0003] More specifically, includes a microphone for detecting a plurality of the installed sound pressure to a location within the closed space, and a plurality of loudspeakers for generating a control sound to the closed space, the frequency f ₀ of the noise source - Based on the f _n component, those frequencies f ₀ ~
The loudspeaker is driven by a signal having a phase opposite to that of the f _n component,
Therefore, a control sound having a phase opposite to that of the noise transmitted to the closed space is generated from the loudspeaker to cancel the noise.

Then, as a method of generating the control sound emitted from the loudspeaker, PROCEEDINGS OF THE IEEE, VOL.
63 PAGE 1692,1975, “ADAPTIVE NOISE CANSELLATION:
PRINCIPLES AND APPLICATIONS ”
An algorithm that applies the DROW LMS 'algorithm to multiple channels is applied. The content of the paper is "A MULTIPLE ERROR LMS ALGORITHM AND
ITS APPLICATION TOTHE ACTIVE CONTROL OF SOUND AND
VIBRATION ”, IEEE TRANS.ACOUST., SPEECH, SIGNAL PRO
CESSING, VOL.ASSP −35, PP. 1423−1434, 1987.

That is, the LMS algorithm is one of the algorithms suitable for updating the filter coefficient of the adaptive digital filter, and is, for example, a so-called Filter.
In the ed-X LMS algorithm, a transfer function filter that models the transfer function from the loudspeaker to the microphone is set for all combinations of the loudspeaker and the microphone, and a reference signal representing the noise generation state of the noise source is set. Update the filter coefficient of the adaptive digital filter with variable filter coefficient provided for each loudspeaker so that the value of the predetermined evaluation function based on the value processed by the filter and the residual noise detected by each microphone is reduced. is doing.

[0006]

Although it is possible to generate a drive signal capable of reducing noise according to the above-mentioned conventional technique, the frequency response of a normal loudspeaker is several tens Hz or more. Therefore, even if a driving signal having a frequency lower than that is supplied to the loudspeaker, a distorted sound is generated, which adversely deteriorates the noise level. Therefore, use a loudspeaker equipped with a large-diameter, large-volume enclosure that can sufficiently generate such low-frequency control sound, or use noise in a situation where uncontrollable frequency band noise is generated. It is necessary to stop the reduction control, but in the former case, not only will the cost be drastically increased, but the device will also become large, and it will not be possible to mount it if there is little space, such as in the passenger compartment of the vehicle. Often, the latter makes it difficult to achieve a sufficient noise reduction effect when low-frequency noise is generated. Further, such noise reduction control can reduce the noise itself radiated into the vehicle interior or the like, but it is extremely difficult to reduce the vibration transmitted to the occupant's feet or the like.

On the other hand, for example, the vibration generated in the engine and transmitted to the vehicle body side is appropriately reduced by appropriately driving the engine mount incorporating the electromagnetic actuator in accordance with the above-mentioned LMS algorithm or the like, so that the noise radiated into the vehicle interior is reduced. Even in a so-called active engine mount that reduces the frequency response of an ordinary electromagnetic actuator is 200
Since the frequency is as low as around Hz, the electromagnetic actuator cannot be accurately driven when the engine is rotating at a high speed, and eventually there is a problem that the vibration reduction control cannot be sufficiently performed when high frequency vibration occurs. Further, among the noises caused by the engine, it is extremely difficult to reduce the noise generated from the exhaust pipe or the like by the active engine mount regardless of the frequency band.

As described above, in each of the noise reduction control using the loudspeaker and the like and the vibration reduction control using the engine mount and the like, there are frequency bands in which a sufficient reduction effect cannot be obtained, vibrations and noises which cannot be reduced, and the like. To do.
Here, as can be seen from the above description, in a frequency band in which the effect of one control cannot be obtained, the effect of another control may be obtained. As a result, the effect of reducing various noises and vibrations can be obtained over a wide frequency band, but conventionally, there has been no device capable of achieving the effect.

Further, when both the noise reduction device and the vibration reduction device as described above are simply provided, the following problems occur. That is, considering reduction of muffled noise as unpleasant noise transmitted from the vehicle engine into the vehicle interior, when both functions are provided as described above, the vibration transmitted from the engine to the vehicle body is transmitted to the active engine. The vibration that is reduced by the mount and cannot be reduced there and transmitted to the vehicle body shakes the vehicle body panel etc., and the muffled noise generated in the vehicle interior is canceled by the control sound emitted from the loudspeaker, but the engine as a noise source Since the actuator for the active engine mount exists in the transmission system between the microphone and the microphone that detects the residual noise, the characteristics of the transmission system frequently change depending on the driving condition of the actuator. The purpose of the adaptive algorithm is to represent the transfer system with an adaptive digital filter. Considering from deteriorating the convergence of the adaptive digital filter for noise reduction control, it is there may not be sufficiently reduced noise by a loudspeaker.

The present invention has been made in view of such conventional problems, and provides an adaptive control device capable of reducing unpleasant waves over a wide frequency band, and at the same time, It is also an object of the present invention to provide a specific configuration that can solve the problems in implementing an adaptive control device.

[0011]

In order to achieve the above object, the invention according to claim 1 is a control wave generating means capable of generating a control wave that interferes with a wave transmitted from a wave generating source, and the wave. Reference signal generating means for detecting the wave generation state of the generation source and outputting it as a reference signal, adaptive digital filter with variable filter coefficient, and filtering the reference signal with the adaptive digital filter to drive the control wave generating means. Drive signal generating means for generating a signal, residual wave detecting means for detecting the post-interference wave and outputting it as a residual wave signal, and reducing the post-interference wave based on the reference signal and the residual wave signal. In the adaptive control device, the adaptive control device comprises: adaptive processing means for updating the filter coefficient of the adaptive digital filter; Multiple provided with in said adaptive digital filter so as to correspond to each of the plurality of control wave generator means, the drive signal generating means, provided residual wave detection means and the adaptive processing means.

According to a second aspect of the present invention, in the above-mentioned first aspect of the invention, a change status detecting means for detecting a change status of the control wave generating means disposed upstream of the wave generating source, Update amount correcting means for correcting the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing means corresponding to the control wave generating means arranged on the downstream side according to the detection result of the change situation detecting means. .

According to a third aspect of the present invention, in the above-mentioned second aspect of the invention, the change status detecting means uses the adaptive processing means corresponding to the control wave generating means arranged upstream of the change status. The adaptive digital filter is configured to detect based on the update amount of the filter coefficient. In the invention according to claim 4, in the invention according to claim 2, the change status detecting means is arranged on the upstream side of the change status. The residual wave detecting means corresponding to the control wave generating means detects the residual wave signal.

Further, in the invention described in claim 5, in the invention described in any one of claims 2 to 4, the update amount correction means is disposed on the downstream side according to the detection result of the change status detection means. The coefficient affecting the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing means corresponding to the control wave generating means is changed. On the other hand, in the invention according to claim 6, in the invention according to claim 1, the reference signal generating means is provided corresponding to each of the plurality of control wave generating means, and the reference signal generating means is arranged downstream from the wave generating source. The reference signal generating means corresponding to the control wave generating means is configured to detect a wave on the downstream side of the control wave generating means arranged on the upstream side and output it as a reference signal.

According to a seventh aspect of the invention, in the invention according to the sixth aspect, the reference signal generating means corresponding to the control wave generating means disposed on the downstream side with respect to the wave generating source is provided on the upstream side. The residual wave detecting means corresponding to the disposed control wave generating means is included. According to an eighth aspect of the present invention, a control wave generation means capable of generating a control wave that interferes with a wave transmitted from the wave generation source, and a reference signal generation for detecting a wave generation state of the wave generation source and outputting it as a reference signal Means, an adaptive digital filter having a variable filter coefficient, drive signal generating means for generating a signal for driving the control wave generating means by filtering the reference signal with the adaptive digital filter, and detecting the wave after the interference. A residual wave detecting means for outputting a residual wave signal, and an adaptive processing means for updating the filter coefficient of the adaptive digital filter so that the wave after the interference is reduced based on the reference signal and the residual wave signal. In an adaptive control device in which a wave control device having a variable wave transfer characteristic is interposed between the wave generation source and the control wave generation means. A change situation detecting means for detecting a change situation of the wave transmission characteristic of the wave control device, and an update for correcting the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing means according to the detection result of the change situation detecting means. A quantity correction means is provided.

According to a ninth aspect of the invention, in the invention according to the eighth aspect, the update amount correcting means is responsive to the detection result of the change state detecting means to determine the filter coefficient of the adaptive digital filter by the adaptive processing means. It is configured to change the coefficient that affects the update amount. In the invention according to claim 10, a control wave generating means capable of generating a control wave that interferes with a wave transmitted from the wave generating source, and a reference for detecting a wave generating state of the wave generating source and outputting it as a reference signal. Signal generating means, adaptive digital filter with variable filter coefficient, drive signal generating means for generating a signal for driving the control wave generating means by filtering the reference signal with the adaptive digital filter, and the wave after the interference. Residual wave detecting means for detecting and outputting as a residual wave signal, adaptive processing means for updating the filter coefficient of the adaptive digital filter so that the wave after the interference is reduced based on the reference signal and the residual wave signal, Equipped with
In an adaptive control device in which a wave control device having a variable wave transfer characteristic is interposed between the wave generation source and the control wave generation means, the reference signal generation means detects a wave on the downstream side of the wave control device. The reference signal is output.

[0017]

According to the invention of claim 1, one control wave is generated because the wave transmitted from the wave generation source and a plurality of types of control waves generated by the plurality of control wave generation means can interfere with each other. Even in the situation where a frequency band or type of wave that cannot be reduced by the generating means is generated, the characteristics of the control wave generating means that generate other control waves are different,
Waves transmitted from the wave source are reduced.

Here, the control wave generating means is arranged on the upstream side (closer to the wave generating source) as viewed from the wave generating source, and the control wave generating means is arranged on the downstream side (away from the wave generating source) as viewed from the wave generating source. When there is a control wave generation means that is generated, the wave generated from the wave generation source reaches the downstream side via the control wave generation means on the upstream side, so that the control wave generation means on the upstream side is changing. Then, it means that the optimum value at which the filter coefficient of the adaptive digital filter corresponding to the control wave generating means on the downstream side should converge is fluctuating.

Therefore, according to the second aspect of the present invention, the change situation detecting means detects the change situation of the control wave generating means arranged on the upstream side, and updates according to the detected change situation. Since the amount correction means corrects the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing means corresponding to the control wave generation means arranged on the downstream side, for example, the update amount becomes large in the case of a large change. With this correction, in a situation where the optimum value of the adaptive digital filter is fluctuating, the amount of update of the filter coefficient by the adaptive processing means becomes large, so that deterioration of followability is avoided.

The control wave generating means is driven according to the drive signal generated by the drive signal generating means,
Since the drive signal is generated by filtering the reference signal with the adaptive digital filter, in the situation where the filter coefficient of the adaptive digital filter changes, the corresponding control wave generating means changes. Can be determined. Therefore, according to the third aspect of the invention, based on the update amount of the filter coefficient of the adaptive digital filter corresponding to the control wave generating means arranged on the upstream side, the change status of the control wave generating means is detected. It

Further, when the detection result of the residual wave detecting means is stable, it can be judged that the wave is reduced by the control wave generated from the control wave generating means, so the filter coefficient of the adaptive digital filter is optimum. It can be determined that the value is converged to or close to the value, but the detection result of the residual wave detection means is changing,
In other words, in the situation where the level of the residual wave signal is fluctuating,
The filter coefficient of the adaptive digital filter is in the process of converging toward the optimum value, and it can be determined that the corresponding control wave generating means is changing. Therefore, based on the residual wave signal detected by the residual wave detecting means corresponding to the control wave generating means disposed on the upstream side, the change state of the control wave generating means is detected. To be done.

Further, in the invention according to claim 5,
When the update amount correction means changes the coefficient that affects the update amount of the filter coefficient of the adaptive digital filter, the update amount of the filter coefficient of the adaptive digital filter changes according to the change of the coefficient. This means that the coefficient update amount has been corrected. On the other hand, in the invention of claim 6, the reference signal generating means provided corresponding to the control wave generating means on the downstream side is based on the wave after passing through the control wave generating means on the upstream side. The transmission system identified by the adaptive processing means corresponding to the control wave generating means on the downstream side is for detecting the residual wave corresponding to the downstream side of the control wave generating means on the upstream side and the control wave generating means on the downstream side. Means (Filtered-X
In the case of the LMS algorithm, it serves as a transmission system to the downstream control wave generation means). Since such a transmission system does not include the upstream control wave generating means, even if the upstream control wave generating means is changing, the adaptive digital filter corresponding to the downstream control wave generating means. Does not deteriorate.

Since the residual wave detecting means corresponding to the control wave generating means on the upstream side detects the wave on the downstream side of the control wave generating means, according to the invention as set forth in claim 7, The reference signal generated by the reference signal generating means corresponding to the control wave generating means disposed on the side becomes a signal generated based on the wave on the downstream side of the control wave generating means disposed on the upstream side. .

The invention according to claims 1 to 7 is based on the premise that there are a plurality of so-called adaptive control systems, but the control system arranged on the upstream side is an adaptive control system. Even if it is not the case, there is a problem similar to the above that the followability of the filter coefficient in the adaptive control system arranged on the downstream side is deteriorated, and the invention according to claim 8 to claim 10 has a problem in such a case. It is to solve the problem.

That is, according to the eighth aspect of the invention, when the wave transfer characteristic of the wave control device interposed between the wave generating source and the control wave generating means changes, the transfer system identified by the adaptive processing means is changed. Although the characteristics will change, similarly to the invention described in claim 2, the change status of the wave transfer characteristics is detected by the change status detection means, and the update amount correction means performs the adaptive processing according to the detection result. In order to correct the update amount of the filter coefficient of the adaptive digital filter by the means,
For example, if the update amount is corrected so as to be large in a situation where there is a large change, the update amount of the filter coefficient by the adaptive processing means becomes large in a situation where the optimum value of the adaptive digital filter is fluctuating. The deterioration of

According to the invention of claim 9,
Similar to the invention described in claim 5, the update amount correction means is
When the coefficient that affects the update amount of the filter coefficient of the adaptive digital filter is changed, the update amount of the filter coefficient of the adaptive digital filter changes according to the change of the coefficient, so the update amount of the filter coefficient of the adaptive digital filter is corrected. It was done.

Further, in the invention according to claim 10,
Similarly to the invention described in claim 6, since the reference signal generating means generates the reference signal based on the wave after passing through the wave control device, the transfer system identified by the adaptive processing means is:
Downstream of the wave control device and residual wave detecting means (Filt)
In the case of the ered-X LMS algorithm, it serves as a transfer system to and from the control wave generation means). Since the transmission system does not include the wave control device, the convergence of the adaptive digital filter does not deteriorate even when the wave control device is changing.

[0028]

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 are diagrams showing a configuration of a first embodiment of the present invention. In this embodiment, an adaptive control device according to the present invention is used to reduce noise in a passenger compartment 3 of a vehicle 2 and to reduce an engine 4. The present invention is applied to an active noise and vibration control device 1 for a vehicle for reducing vibration transmitted to a vehicle body frame 5.

First, the structure will be described. As shown in FIG. 1, the vehicle active noise and vibration control apparatus 1 reduces the vibration transmitted from the engine 4 as a wave generation source to the vehicle body frame 5, and This is a device that transmits the vehicle body frame 5 to reduce the muffled noise radiated from the vehicle body panel 6 and the like into the vehicle interior 3. The engine 4 has a crank angle signal X synchronized with the rotation of the crankshaft of the engine 4. A crank angle sensor 7 for outputting the crank angle signal X output from the crank angle sensor 7 is
It is supplied to the controller 20. In this embodiment, a 4-cylinder reciprocating engine is assumed as the engine 4, and the engine 4 is supported by the vehicle body frame 5 via the engine mount 8.

The engine mount 8 is not a passive support device composed of a simple elastic body, but an active support device capable of generating an arbitrary support force according to the drive signal y _V supplied from the controller 20. And constitutes one control wave generation means in the present invention. Although various configurations are conceivable for the engine mount 8, for example, a support elastic body interposed between the engine 4 and the body frame 5, a fluid chamber formed in the support elastic body, and the fluid chamber It is possible to configure the fluid enclosed in the above, a movable plate that forms a part of the partition wall of the fluid chamber, and an electromagnetic actuator that displaces the movable plate.

An acceleration sensor 9 as one residual wave detecting means for detecting vibration acceleration is fixed near the engine mount 8 of the body frame 5, and the vibration of the body frame 5 detected by the acceleration sensor 9 is fixed. The acceleration is supplied to the controller 20 as a residual vibration signal e _V as a residual wave signal. On the other hand, in the passenger compartment 3, a plurality of L units (only two of them are shown in FIG. 1) as other residual wave detecting means for measuring the sound pressure of noise remaining in the passenger compartment 3. .) Microphone 10
And a plurality of M loudspeakers 11 (only one of which is shown in FIG. 1) as other control wave generating means for generating a control sound as a control wave in the passenger compartment 3. Is provided.

The microphone 10 is arranged at a position where the sound pressure near the ears of the occupant can be measured, and supplies the measured residual noise in the passenger compartment 3 to the controller 20 as a residual noise signal e _Nl. It is like this. The subscript l (l = 1, 2, ..., L) of the residual noise signal e _Nl indicates which of the microphones 10 the residual noise signal is output from.

The controller 20 controls the crank angle signal X,
Predetermined arithmetic processing is executed based on the residual vibration signal e _V and the residual noise signal e _Nl so that the vibration transmitted from the engine 4 to the vehicle body frame 5 is reduced.
Outputs drive signals y _V, as control sound such as muffled sound to be transmitted to the passenger compartment 3 is canceled supplies a drive signal y _Nm manner in each loudspeaker 11 is emitted from the loudspeaker 11 Has become. Drive signal y
The subscript m (m = 1, 2, ..., M) of _Nm represents which of the loudspeakers 11 the drive signal is supplied to.

The controller 20 includes a microcomputer, necessary interface circuits, etc., and its specific functional configuration is shown in FIG. That is, the controller 20 is functionally
A reference for generating a reference signal x based on the crank angle signal X, such as a sine wave having the same cycle as the muffled sound (in the present embodiment, the cycle is the same as the secondary rotation component of the crank since it is a 4-cylinder reciprocating engine). A signal generator 21, an adaptive digital filter W _V for vibration reduction, an adaptive digital filter W _Nm for noise reduction of the same number as the number M of the loudspeakers 11, filter coefficients of the reference signal x and the adaptive digital filter W _V. W _vi (i = 0, 1, ..., I−1: I is the number of taps of the adaptive digital filter) and a drive signal generation unit 22 as one drive signal generation means for calculating the drive signal y _V. , Reference signal x and adaptive digital filter W
_A finite impulse response of a transfer function of vibration between the drive signal generating unit 23 as another drive signal generating unit that calculates the drive signal y _Nm by _convolving the filter coefficient W _Nmi of _Nm and the engine mount 8 and the acceleration sensor 9. A transfer function filter C _v ^ modeled in the form of a function and a transfer function filter C _N modeled in the form of a finite impulse response function of the acoustic transfer function between each loudspeaker 11 and the loudspeaker 10 in the passenger compartment 3. ^ _Lm and drive signal y _V are engine 4
The filter coefficient updating unit 24 that updates each filter coefficient W _Vi of the adaptive digital filter W _V so that the vibration transmitted from the vehicle body frame 5 becomes a signal, and the drive signal y _Nm causes noise in the vehicle interior 3. The filter coefficient updating unit 25 that updates each filter coefficient W _Nmi of the adaptive digital filter W _Nm so as to obtain a signal that can reduce the filter coefficient, and the filter coefficient according to the update amount ΔW _Vi of the filter coefficient W _Vi by the filter coefficient updating unit 24. The updating unit 25 includes a convergence coefficient setting unit 26 that sets a convergence coefficient α _N, which will be described later, used in the update calculation.

The filter coefficient updating section 24 has a reference signal x
And transfer function filter C_VFilter coefficient C of ^_V^_j(J
= 0, 1, ..., J-1: J is a tap of the transfer function filter
Reference processed signal r obtained by convolving_VAnd the residual
Vibration signal e_VAnd are supplied, the filter coefficient update unit
24 is the reference processed signal r_VAnd residual vibration signal e _V
Based on LMS algorithm and according to LMS algorithm
Tall filter W_VEach filter coefficient W of_ViTo update
It has become. Therefore, the filter coefficient W_ViThe update formula of
The convergence coefficient is α_VThen, as shown in equation (1) below,
It

W_Vi(N + 1) = W_Vi(N) -α_Ve_V(N) r_V(N−i) (1) On the other hand, the filter coefficient updating unit 25 supplies the reference signal x and each transmission signal.
Reaching function filter C_N^ _lmFilter coefficient C_N^_lmjAnd
Reference processed signal r obtained by convolution_NlmAnd the residual wave signal
Issue e_NlAre supplied, and the filter coefficient updating unit 25
Are the reference processed signals r_NlmAnd residual noise signal e_NlTo
Adaptive digitizer based on and according to the LMS algorithm
Le Filter W_NmEach filter coefficient W of_NmiTo update
It has become. Therefore, the filter coefficient W_NmiUpdate formula
Is the convergence coefficient α_NThen, as shown in Equation (2) below,
Become.

[0037] Then, the convergence coefficient setting unit 26 uses the filter coefficient updating unit 2
Update amount ΔW _Vi (= Σ | W of filter coefficient W _Vi in 4)
_Vi (n + 1) −W _Vi (n) |) is calculated, and based on the calculation result, the convergence coefficient α necessary for the update calculation in the filter coefficient updating unit 25 is referred to with reference to the map shown in FIG.
Set _N.

Specifically, the convergence coefficient α _N is the update amount ΔW.
_{When Vi} is less than or equal to the predetermined value δ ₁ , the filter coefficient W _Nmi is set to the minimum necessary amount that can be updated in _accordance with the change of the acoustic transmission system in the vehicle interior 3, and the update amount ΔW _Vi is Predetermined value δ ₁
Is larger than the predetermined value δ ₂ and is proportionally increased until reaching the predetermined value δ ₂ , and when the update amount ΔW _Vi is larger than the predetermined value δ ₂ , the filter coefficient W _Nmi
Is set to the maximum value that can be updated stably. The predetermined value δ ₁ is the adaptive digital filter W _V
Is the upper limit value at which it can be determined that there is almost no change.

FIG. 4 is a flow chart showing the outline of the processing executed in the controller 20, and the operation of this embodiment will be described below with reference to FIG. That is, the controller 2
The process in 0 is executed as an interrupt process at every predetermined sampling period. First, in step 101, the crank angle signal X is read,
Next, in step 102, the crank angle signal X
A reference signal x having a sine wave is generated based on In addition,
Since the arithmetic processing in the controller 20 is digital signal processing, the reference signal x is an instantaneous value at the sampling time n.

Next, in step 103, the reference signal x is transferred to the transfer function filter C _V ^ and the transfer function filter C _N.
Filtering with ^ _lm to compute the reference processed signal r _V and the reference processed signal r _Nlm , then step 104
Then, the residual vibration signal e _V and the residual noise signal e _Nl are read. Then, the process proceeds to step 105, and each filter coefficient W _Vi of the adaptive digital filter W _V is updated according to the above equation (1).

When the updating process of the filter coefficient W _Vi is finished,
The process proceeds to step 106, calculates the update amount [Delta] W _Vi of the filter coefficient W _Vi. The update amount ΔW _Vi is calculated as the sum of the absolute values of the update amounts of the filter coefficients W _Vi . Next, the process proceeds to step 107, the convergence coefficient α _N is set by referring to the map as shown in FIG. 3 based on the update amount ΔW _Vi obtained in step 106, then the process proceeds to step 108, and the above ( Each filter coefficient W _Nmi of the adaptive digital filter W _Nm is updated according to the equation (2).

When the updating process of the filter coefficient W _Nmi is completed, the process _proceeds to step 109, and the reference signal x is filtered by each of the adaptive digital filter W _V and the adaptive digital filter W _Nm to drive the drive signal y _V and the drive signal. y _Nm is calculated, and these drive signals y _V and y _Nm are output to the corresponding engine mount 8 or loudspeaker 11 in step 110.

Then, the engine mount 8 becomes the engine 4
Control vibration is generated between the vehicle body frame 5 and the vehicle body frame 5, and the loudspeaker 11 generates a control sound toward the interior of the vehicle compartment 3. Immediately after the control is started, the filter coefficient W _Vi of the adaptive digital filter W _V and the adaptive digital filter W _V are generated. _Since the filter coefficient W _{Nmi of Nm} does not always converge to the optimum value, it cannot be said that the vibration transmitted from the engine 4 to the vehicle body frame 5 is necessarily reduced by the control vibration.
It cannot be said that the muffled sound in the passenger compartment 3 is necessarily reduced by the control sound.

However, when the process shown in FIG. 4 is repeatedly executed, the filter coefficient W _Vi of the adaptive digital filter W _V and the filter coefficient W _Nmi of the adaptive digital filter W _Nm are appropriately updated based on the LMS algorithm. The vibration transmitted from the engine 4 to the vehicle body frame 5 is reduced by the control vibration generated in the engine mount 8, and the muffled sound in the vehicle interior 3 is reduced by the control sound emitted from the loudspeaker 11.

The engine 4 is used in this embodiment.
Also, since there are two types of control actuators, that is, the engine mount 8 that emits control vibration between the vehicle body frame 5 and the loudspeaker 11 that emits control sound toward the interior of the vehicle compartment 3, for example, in FIG. As shown, the frequency band in which the vibration reduction effect of the engine mount 8 is not sufficiently exerted (in this example, at the engine speed of 3500
5) and a frequency band in which the noise reduction effect by the loudspeaker 11 is not sufficiently exerted (in this example, the engine rotation speed is 2 rpm).
(Around 600 rpm and a range less than 1500 rpm)
Even if there is, the control effect by the other control actuator can be obtained so as to supplement such a range. Therefore, in the band where the vibration reducing effect of the engine mount 8 is small, the loudspeaker 11 can sufficiently obtain the noise reducing effect, and in the band where the noise reducing effect of the loudspeaker 11 is small, the body panel 6 causing the muffled sound can be obtained.
The vibration itself is suppressed by the engine mount 8.

Further, in the device capable of only the vibration reduction control by the engine mount 8, it is impossible to reduce the noise emitted from the exhaust pipe, and in the device capable of only the noise reduction control by the loudspeaker 11. Although it is impossible to reduce the vibrations of the feet of the occupant, the configuration of the present embodiment can reduce such noises and vibrations.

Further, in this embodiment, the engine 4
According to the update amount ΔW _Vi of the filter coefficient W _Vi of the adaptive digital filter W _V corresponding to the engine mount 8 arranged upstream, the adaptive digital filter corresponding to the loudspeaker 11 arranged downstream. The configuration is such that the convergence coefficient α _N necessary for the update calculation of the filter coefficient W _Nmi of W _Nm is set. Moreover, as can be seen from FIG. 3, the convergence coefficient α _N depends on the increase of the update amount ΔW _Vi. Tends to grow. Then, since the increase of the convergence coefficient α _N is directly reflected on the update amount of the filter coefficient W _Nmi as can be seen from the above equation (2), the filter coefficient W _Vi of the adaptive digital filter W _V changes largely after all. The adaptive digital filter W _Nm , the filter coefficient W
The update amount of _Nmi also becomes large.

Therefore, the vibration transfer characteristic of the engine mount 8 changes, and the characteristic of the transfer system for identifying the adaptive digital filter W _Nm changes, and the filter coefficient W _Nmi of the adaptive digital filter W _Nm should converge. Even if the optimum value fluctuates, in such a situation, _since the update amount of the filter coefficient W _Nmi becomes large as described above, deterioration of the convergence can be avoided. Further, when the vibration transmission characteristic of the engine mount 8 is stable, that is, when the optimum value of the filter coefficient W _Nmi to be converged does not change, the convergent coefficient α _N has a small value, so that the control is unsuccessful. It will never be stable. Therefore, the noise reduction effect as shown in FIG. 5B can be surely obtained.

Here, in the present embodiment, the crank angle sensor 7, the reference signal generating unit 21, and the processing of step 102 constitute the reference signal generating means, and the filter coefficient updating unit 24 and the transfer function filter C _V ^. And step 10
An adaptive processing unit corresponding to the engine mount 8 is configured by the processing of 3, 105, and the filter coefficient updating unit 25,
Transfer function filter C _N ^ _lm and steps 103, 108
The processing of step (5) constitutes adaptive processing means corresponding to the loudspeaker 11, the processing of step 106 constitutes change state detection means, and the convergence coefficient setting part 26, the map shown in FIG. Is configured.

FIG. 6 is a diagram showing the configuration of the second embodiment of the present invention, and is a block diagram showing the functional configuration of the controller 20 as in FIG. 2 in the first embodiment. In addition,
The same components as those in the first embodiment are designated by the same reference numerals, and the duplicated description will be omitted. Further, the other structure is similar to that of the first embodiment, and therefore its illustration and description are omitted.

That is, in this embodiment, the convergence coefficient setting unit 26
Is designed so as to monitor the residual vibration signal e _V, convergence factor α based on the level change of the residual vibration signal e _V
It is designed to set _N. This is a signal in which the residual vibration signal e _V is stable when the vibration reduction effect of the engine mount 8 is obtained, but fluctuates when the vibration reduction effect is insufficient. Is insufficient, it means that the filter coefficient W _Vi of the adaptive digital filter W _V is converging. When the filter coefficient W _Vi converges, the characteristic of the engine mount 8 changes. Because it is
The convergence coefficient α _N is calculated based on the level change of the residual vibration signal e _V.
By setting, the same operational effect as that of the first embodiment can be obtained.

It is to be noted that, as factors that increase the update amount of the filter coefficient W _Vi of the adaptive digital filter W _V , for example, changes in the engine speed or changes in the load of the engine 4 can be considered. The convergence coefficient α _N may be set based on the change of
FIG. 7 is a diagram showing the configuration of the third embodiment of the present invention, and is a block diagram showing the functional configuration of the controller 20 as in FIG. 2 in the first embodiment. The same components as those in the first embodiment are designated by the same reference numerals, and the duplicated description will be omitted. Further, the other structure is similar to that of the first embodiment, and therefore its illustration and description are omitted.

That is, the process of generating the drive signal y _{V and} the process of updating the filter coefficient W _Vi of the adaptive digital filter W _V based on the reference signal x ₁ generated by the reference signal generator 21 are performed in the first embodiment. However, in the present embodiment, a reference signal generator 30 is newly provided, and the drive signal y is generated based on the reference signal x ₂ generated by the reference signal generator 30.
_The feature is that _Nm generation processing and update processing of the filter coefficient W _Nmi of the adaptive digital filter W _Nm are performed.

The reference signal generating section 30 is adapted to generate the reference signal x ₂ based on the residual vibration signal e _V input to the filter coefficient updating section 24 instead of the crank angle signal X. FIG. 8 is a flow chart showing an outline of the processing executed in the controller 20 in the present embodiment. First, in step 201, the crank angle signal X is read, and then step 202 is entered.
A reference signal x ₁ is generated based on the crank angle signal X, and then the routine proceeds to step 203, where the residual vibration signal e _V
And the residual noise signal e _Nl .

Then, the routine proceeds to step 204, where the reference signal x ₂ is generated based on the residual vibration signal e _V. Next, in step 205, the reference signal x ₁ is filtered by the transfer function filter C _V ^ to calculate the reference processed signal r _V , and the reference signal x ₂ is filtered by the transfer function filter C _N ^ _lm. Reference processing signal r _Nlm
Is calculated.

Then, in step 206, each filter coefficient W _Vi of the adaptive digital filter W _V is updated according to the above equation (1), and each filter coefficient W of the adaptive digital filter W _{Nm is obtained} according to the above equation (2). _Nmi
To update. Filter coefficient W _Vi and filter coefficient W _Nmi
After completing the update process, and proceeds to step 207, as well as calculating the drive signal y _V reference signal x ₁ in the adaptive digital filter W _V filtered, the filter reference signal x ₂ with adaptive digital filter W _Nm Then, the drive signal y _Nm is calculated, and these drive signals y _V and y _Nm are output to the corresponding engine mount or loudspeaker in step 208.

Then, by the same operation as in the first embodiment, the vibration transmitted from the engine to the vehicle body frame due to the control vibration generated in the engine mount is reduced, and the control sound emitted from the loudspeaker causes a muffled sound in the vehicle interior. Will be reduced. In this embodiment, the reference signal x necessary for generating the drive signal y _Nm corresponding to the loudspeaker located downstream of the engine and updating the filter coefficient W _Nmi of the adaptive digital filter W _{Nm. 2} is generated based on the residual vibration signal e _V indicating the vibration state on the downstream side of the engine mount located on the upstream side of the loudspeaker, the engine mount is included in the transmission system identified by the adaptive digital filter W _Nm. Will not exist. Therefore, even if the transfer characteristic of the engine mount changes, the adaptive digital filter W _Nm
The optimum value of the filter coefficient W _Nmi of (1) does not fluctuate, and its convergence does not deteriorate.

Therefore, also in this embodiment, the effect as shown in FIG. 5 can be obtained as in the first embodiment. Here, in the present embodiment, the crank angle sensor 5, the reference signal generation unit 21 and the reference signal generation unit corresponding to the engine mount are configured by the processing of step 202, and the acceleration sensor 9, the reference signal generation unit 30, and the reference signal generation unit 30. The processing of step 204 constitutes the reference signal generating means corresponding to the loudspeaker.

9 and 10 are views showing the configuration of the fourth embodiment of the present invention. In this embodiment as well, the adaptive control device according to the present invention is used in the passenger compartment of the vehicle 2 as in the first embodiment. Active noise and vibration control device for vehicle 1 for reducing noise in the vehicle 3 and vibration transmitted from the engine 4 to the vehicle body frame 5.
It has been applied to. The same components as those in the first embodiment are designated by the same reference numerals, and their duplicate description will be omitted.

That is, in this embodiment, the sub-frame mount 36 interposed between the vehicle body frame 5 and the sub-frame 35 has a structure capable of generating controlled vibration similarly to the engine mount 8, and this sub-frame is formed. The controller 20 supplies the drive signal y _S to the mount 36. Therefore, this sub-frame mount 36 also constitutes the control wave generating means in the present invention.

An acceleration sensor 37 as a residual wave detecting means corresponding to the subframe mount 36 is fixed to the subframe 35, and the vibration acceleration of the subframe 35 detected by the acceleration sensor 37 is a residual wave. The residual vibration signal e _S as a signal is supplied to the controller 20. On the other hand, the controller 20 is a block diagram showing the functional configuration thereof.
As shown in, the functional configuration is basically the same as that of the controller 20 in the first embodiment, except that
An adaptive digital filter W _S , a drive signal generation unit 38, a filter coefficient update unit 39, and a transfer function filter C _S ^ are provided corresponding to the subframe mount 35, and two convergence coefficient setting units 40 and 41. Is provided.

The filter coefficient updating unit 39, like the other filter coefficient updating units 24 and 25, updates the filter coefficient W _Si of the adaptive digital filter W _S according to the LMS algorithm. Therefore, the filter coefficient W _Si
The updating formula of is expressed by the following formula (3) when the convergence coefficient is α _S. W _Si (n + 1) = W _Si (n) −α _S e _S (n) r _S (n−i) (3) The transfer function filter C _S ^ includes the sub-frame mount 36 and the acceleration sensor 37. It is a digital filter in which the transfer function of the vibration between is modeled in the form of a finite impulse response function.

Then, the convergence coefficient setting unit 40 sets the convergence coefficient α _S required by the filter coefficient updating unit 39 based on the update amount ΔW _Vi of the filter coefficient W _Vi in the filter coefficient updating unit 24 corresponding to the engine mount 8. Then, the convergence coefficient setting unit 41 sets the required convergence coefficient α _N in the filter coefficient updating unit 25 based on the update amount ΔW _Si of the filter coefficient W _Si in the filter coefficient updating unit 39 corresponding to the subframe mount 36. It has become. The convergence coefficient setting units 40 and 41 set the convergence coefficients α _S and α _N with reference to the map as shown in FIG. 3 similarly to the convergence coefficient setting unit in the first embodiment.

In the configuration of FIG. 9, when viewed from the engine 4, the engine mount 8 is located on the most upstream side, the subframe mount 36 is located on the downstream side, and the loudspeaker 11 is located on the most downstream side. _Therefore , there is a concern that the convergence of the adaptive digital filter W _S corresponding to the sub-frame mount 36 located on the downstream side and the adaptive digital filter W _Nm corresponding to the loudspeaker 11 may be deteriorated. However, the convergence coefficient setting unit 4
Since 0 and 41 are provided, deterioration of convergence is avoided without deteriorating control stability, and both vibration and noise are reduced in the passenger compartment 3 by the same effect as the first embodiment. It is possible to create a comfortable space.

Here, in this embodiment, the crank angle sensor 7 and the reference signal generating unit 21 constitute a reference signal generating means, and the filter coefficient updating unit 24 and the transfer function filter C _V ^ mount the engine mount 8. Corresponding adaptive processing means is configured, and the loudspeaker 11 is constituted by the filter coefficient updating unit 25 and the transfer function filter C _N ^ _lm .
Corresponding to the sub-frame mount 36 is constituted by the filter coefficient updating unit 39 and the transfer function filter C _S ^, and the convergence coefficient setting units 40 and 41 serve as update amount correcting means. Constitute.

FIG. 11 is a diagram showing the fifth embodiment of the present invention and is a block diagram showing the functional configuration of the controller 20 as in the case of FIG. 10 in the fourth embodiment. The same components as those in the fourth embodiment are designated by the same reference numerals, and the duplicated description will be omitted. In addition, other configurations are the same as those in the above
Since it is similar to the embodiment, its illustration and description are omitted.

That is, the process of generating the drive signal y _{V and} the process of updating the filter coefficient W _Vi of the adaptive digital filter W _V based on the reference signal x ₁ generated by the reference signal generator 21 are performed in the fourth embodiment. However, in the present embodiment, the reference signal generators 45 and 46 are newly provided, and the generation processing of the drive signal y _S and the adaptive digital filter W are performed based on the reference signal x ₂ generated by the reference signal generator 45. The filter coefficient W _Si of _S is updated, and the generation processing of the drive signal y _Nm and the update processing of the filter coefficient W _Nmi of the adaptive digital filter W _Nm are performed based on the reference signal x ₃ generated by the reference signal generation unit 46. There is a feature in doing it.

Then, the reference signal generator 45 generates the reference signal x ₂ based on the residual vibration signal e _V input to the filter coefficient updating unit 24, and the reference signal generator 46
The reference signal x ₃ is generated based on the residual vibration signal e _S input to the filter coefficient updating unit 39. With such a configuration, as in the third embodiment, the engine mount does not exist in the transmission system identified by the adaptive digital filter W _S , and the transmission system identified by the adaptive digital filter W _Nm exists. Since the engine mount and the sub-frame mount do not exist, even if the transfer characteristics of the engine mount and the sub-frame mount change, the optimum value or the adaptive digital filter W that the filter coefficient W _Si of the adaptive digital filter W _S should converge. _Nm
The optimum value of the filter coefficient W _Nmi of (1) does not fluctuate, and its convergence does not deteriorate.

Therefore, also in this embodiment, the same effect as that of the fourth embodiment can be obtained. Here, in the present embodiment, the crank angle sensor 5 and the reference signal generator 21 constitute a reference signal generator corresponding to the engine mount, and the acceleration sensor 9 and the reference signal generator 4 are included.
The reference signal generating unit 5 corresponds to the sub-frame mount 36, and the acceleration sensor 37 and the reference signal generating unit 46 form the reference signal generating unit corresponding to the loudspeaker 11.

In each of the above embodiments, the case where there are a plurality of so-called adaptive control systems has been described. However, in terms of sources of vibration and noise, wave control of a transfer control variable vibration control device other than the adaptive control system is performed. Even when the device is installed on the upstream side and the adaptive control system is installed on the downstream side, the transfer characteristics of the wave control device change, which deteriorates the convergence of the adaptive control system on the downstream side. The problem of doing so occurs. Therefore, even in such a case, when the wave control device changes greatly, the correction is performed so that the update amount in the adaptive algorithm of the adaptive control system becomes large, or the wave on the downstream side of the wave control device is detected. However, the problem can be solved by generating the reference signal based on this.

That is, as a wave control device with variable transmission characteristics, in a vehicle, a damping force variable shock absorber in which a damping force generated according to a running state or the like changes, or a force generated by a hydraulic actuator is appropriately controlled. Therefore, so-called active suspension that reduces roll and pitching of the vehicle body, engine mount using electro-rheological fluid, etc. can be considered, but if it is a variable damping force shock absorber or engine mount, the magnitude of damping force and fluid viscosity The convergence coefficient is increased immediately after the changing switching signal is issued. With an active suspension, the convergence coefficient may be set according to the amount of change in the level of the command signal to the hydraulic actuator, or those wave control devices. The acceleration sensor is fixed on the downstream side, and the reference signal is based on the detected value. Generation should be.

In each of the above embodiments, the engine is taken as an example of the wave source, but the wave source to which the present invention is applicable is not limited to the engine. If you think of it as a wave source,
The vehicle active noise and vibration control device that reduces noise can be provided. Further, the application target of the present invention is not limited to the vehicle, and may be, for example, a device that reduces noise or the like emitted from a duct or the like.

Furthermore, in each of the above-described embodiments, the time domain Fi is used for updating the filter coefficient of the adaptive digital filter.
Although the case of applying the ltered-X LMS algorithm has been described, the present invention is not limited to this.
For example, a frequency domain Filtered-X LMS algorithm or a synchronous Filtered-X LMS algorithm may be applied.

[0074]

As described above, according to the first aspect of the present invention, a plurality of control wave generating means are provided in different types, and an adaptive digital filter and a drive signal are provided corresponding to each of the control wave generating means. Since the generation means, the residual wave detection means, and the adaptive processing means are provided, even if there are frequency bands, vibrations, noises, etc. that cannot be reduced by the individual control wave generation means, the effect is that the waves can be reduced as a whole.

In particular, according to the inventions of claims 2 to 7, it is possible to prevent deterioration of the convergence of the adaptive digital filter corresponding to the control wave generating means arranged on the downstream side. There is an effect that the wave reduction effect by the control wave generation means can be surely obtained. Further, according to the invention of claims 8 to 10, even if the wave transmission characteristic of the wave control device arranged on the upstream side changes, it corresponds to the control wave generation means arranged on the downstream side. Since it is possible to prevent the convergence of the adaptive digital filter from deteriorating, it is possible to reliably obtain the wave reduction effect by the control wave generating means.

[Brief description of drawings]

FIG. 1 is a conceptual diagram showing an overall configuration of a first embodiment of the present invention.

FIG. 2 is a block diagram showing a functional configuration of a controller in the first embodiment.

FIG. 3 is a graph showing a relationship between a filter coefficient update amount and a convergence coefficient.

FIG. 4 is a flowchart showing an outline of processing executed in the controller in the first embodiment.

FIG. 5 is a frequency characteristic diagram for explaining the function and effect of the first embodiment.

FIG. 6 is a block diagram showing a functional configuration of a controller in the second embodiment.

FIG. 7 is a block diagram showing a functional configuration of a controller in the third embodiment.

FIG. 8 is a flowchart showing an outline of processing executed in a controller in the third embodiment.

FIG. 9 is a conceptual diagram showing an overall configuration of a fourth embodiment.

FIG. 10 is a block diagram showing a functional configuration of a controller in the fourth embodiment.

FIG. 11 is a block diagram showing a functional configuration of a controller in the fifth embodiment.

[Explanation of symbols]

1 Vehicle active noise and vibration control device (adaptive control device) 4 Engine (wave generation source) 5 Body frame 7 Crank angle sensor 8 Engine mount (control wave generation means) 9 Acceleration sensor (residual wave detection means) 10 Microphone (residual) Wave detector 11) Loudspeaker (control wave generator) 20 Controller 21 Reference signal generator 22, 23 Drive signal generator (drive signal generator) 24, 25 Filter coefficient updater 26 Convergence coefficient setter 30 Reference signal generator 36 Sub-frame Actuator (Control Wave Generation Means) 38 Drive Signal Generation Unit (Drive Signal Generation Means) 39 Filter Coefficient Update Unit 40, 41 Convergence Coefficient Setting Unit 45, 46 Reference Signal Generation Unit

Claims (10)

[Claims] 1. A control wave generation means capable of generating a control wave that interferes with a wave transmitted from a wave generation source, and a reference signal generation means for detecting a wave generation state of the wave generation source and outputting it as a reference signal. An adaptive digital filter having a variable filter coefficient, a drive signal generating means for generating a signal for driving the control wave generating means by filtering the reference signal with the adaptive digital filter, and a residual wave by detecting the wave after the interference. Adaptive control including residual wave detecting means for outputting as a signal, and adaptive processing means for updating the filter coefficient of the adaptive digital filter based on the reference signal and the residual wave signal so that the wave after the interference is reduced. In the device, a plurality of control wave generating means of different types are provided, and each of the plurality of control wave generating means is provided. An adaptive control device comprising the adaptive digital filter, drive signal generating means, residual wave detecting means and adaptive processing means correspondingly. 2. A change situation detecting means for detecting a change situation of a control wave producing means arranged upstream from the wave producing source, and a change situation detecting means arranged downstream according to a detection result of the change situation detecting means. 2. The adaptive control device according to claim 1, further comprising update amount correction means for correcting the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing means corresponding to the control wave generation means. 3. The change status detecting means detects the change status based on the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing means corresponding to the control wave generating means arranged on the upstream side. The adaptive control device described. 4. The adaptation according to claim 2, wherein the change state detecting means detects the change state based on the residual wave signal detected by the residual wave detecting means corresponding to the control wave generating means arranged on the upstream side. Control device. 5. The update amount correcting means determines the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing means corresponding to the control wave generating means arranged on the downstream side according to the detection result of the change status detecting means. The adaptive control device according to any one of claims 2 to 4, which changes an influencing coefficient. 6. The reference signal generating means is provided corresponding to each of the plurality of control wave generating means, and the reference signal generating means corresponding to the control wave generating means disposed downstream of the wave generating source is provided. The adaptive control device according to claim 1, wherein a wave on the downstream side of the control wave generating means arranged on the upstream side is detected and output as a reference signal. 7. A reference signal generating means corresponding to the control wave generating means arranged downstream from the wave generating source, and a residual wave detecting means corresponding to the control wave generating means arranged upstream. 7. The adaptive control device according to claim 6, wherein the adaptive control device comprises: 8. A control wave generating means capable of generating a control wave that interferes with a wave transmitted from a wave generating source, and a reference signal generating means for detecting a wave generating state of the wave generating source and outputting it as a reference signal. An adaptive digital filter having a variable filter coefficient, a drive signal generating means for generating a signal for driving the control wave generating means by filtering the reference signal with the adaptive digital filter, and a residual wave by detecting the wave after the interference. The residual wave detecting means for outputting as a signal; and the adaptive processing means for updating the filter coefficient of the adaptive digital filter based on the reference signal and the residual wave signal so that the wave after the interference is reduced. In the adaptive control device in which a wave control device having a variable wave transfer characteristic is interposed between a generation source and the control wave generation means, Change condition detecting means for detecting a change condition of the wave transmission characteristic of the dynamic control device, and update amount correction for correcting the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing device according to the detection result of the change condition detecting means. And an adaptive control device. 9. The adaptive control according to claim 8, wherein the update amount correction means changes the coefficient that affects the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing means, according to the detection result of the change status detection means. apparatus. 10. A control wave generation means capable of generating a control wave that interferes with a wave transmitted from a wave generation source, and a reference signal generation means for detecting a wave generation state of the wave generation source and outputting it as a reference signal. An adaptive digital filter having a variable filter coefficient, a drive signal generating means for generating a signal for driving the control wave generating means by filtering the reference signal with the adaptive digital filter, and a residual wave by detecting the wave after the interference. The residual wave detecting means for outputting as a signal, and the adaptive processing means for updating the filter coefficient of the adaptive digital filter based on the reference signal and the residual wave signal so that the wave after the interference is reduced. An adaptive control device in which a wave control device having a variable wave transfer characteristic is interposed between a generation source and the control wave generation means, The adaptive control device, wherein the reference signal generation means detects a wave on the downstream side of the wave control device and outputs it as a reference signal.