JPH11133983A - Active type noise and vibration control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the possibility of an erroneous detection of divergence. SOLUTION: The time T is read at Step 201, and the passing time ΔT is operated by subtracting the time Told read at the former time from the time T at Step 202. The time detecting signal (t) is read at Step 203, and a temperature weight coefficient A is set depending on the temperature detecting signal (t) at Step 204. When the temperature detecting signal (t) is higher than a specific temperature, A is set 2, and when lower than the specific temperature, A is set 1. An elapsed degradation counter Ct (=Ct +ΔT.A) is accumulated at a Step 205, the newest elapsed degradation counter Ct is stored in a non- volatile memory at a Step 206, and the time T is stored as the time Told at a Step 207. A divergence threshold value γ is set depending on the elapsed degradation counter Ct at a Step 208. When the value of the Ct is larger than a specific value, it is set at a value γ1 larger than a normal condition, while when it is smaller than the specific value, it is set at the normal value γ2 .

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active noise / vibration control apparatus adapted to execute noise or vibration reduction control in accordance with an adaptive algorithm, and more particularly to an apparatus provided with means for detecting control divergence. , The possibility of erroneous detection of the divergence can be reduced.

[0002]

2. Description of the Related Art As a prior art of this kind, there is one disclosed in Japanese Patent Application Laid-Open No. 5-61481 previously proposed by the present applicant.

The prior art described in this publication relates to an active noise control apparatus using a steepest descent algorithm such as an LMS algorithm, and more specifically, updates the filter coefficient of an adaptive digital filter according to the steepest descent algorithm. A drive signal is generated based on the adaptive digital filter and a reference signal indicating a noise generation state to drive the control sound source.

Further, the above prior art includes means for detecting a divergence state level, and means for determining that control has diverged when the divergence state level detected by the means exceeds a divergence threshold. Thus, even if the control diverges, a situation in which the noise level is rather deteriorated is not caused. As the divergence state level, the sum of the absolute values of the filter coefficients of the adaptive digital filter,
The sum of the squares of the filter coefficients, the level of the drive signal for the control sound source, the level of the residual noise signal, and the like can be applied.

[0005] In the prior art, the divergence threshold for judging the divergence of the control is variable according to the control environment in which the noise control is performed. If the divergence threshold is made variable in accordance with the control environment as described above, the divergence threshold changes in accordance with the change in the control environment even if the noise generation state or the running state of the vehicle changes. That is, it is possible to accurately detect and effectively prevent the divergent state.

[0006]

Indeed, according to the above-mentioned prior art, the divergence threshold is variable according to the control environment, so that it can be compared with a case where the divergence threshold is fixed. The divergence detection accuracy is high, and it is possible to effectively prevent a full-scale divergence state.

However, as a result of the inventor's intensive studies, there is a large possibility that divergence is erroneously detected only by making the divergence threshold variable according to the control environment. That is, when the divergence state level exceeds the divergence threshold, it is determined that the control has diverged. Therefore, in the above-described conventional technology, a control environment in which the divergence state level is higher than usual even when the control is not diverged. If so, the divergence threshold is raised to prevent erroneous determination of divergence. However, even if the control environment has not changed, for example, when a speaker is used as a control sound source, if the characteristics of the speaker have changed from the initial state due to deterioration over time, the speaker must be driven with a large drive signal. It is conceivable that a good level of control sound is not generated. Then, even if the noise reduction control is good, since the drive signal is increased, the divergence state level is determined to be large, and the divergence state may be erroneously detected as exceeding the divergence threshold value. is there.

[0008] The above-mentioned problem is not limited to the noise reduction device as in the above-described conventional technology, but also applies to an active vibration control device that executes vibration reduction control using an adaptive algorithm. Things.

SUMMARY OF THE INVENTION The present invention has been made in view of such unresolved problems of the prior art, and is capable of reducing the possibility of erroneous detection of control divergence. It is intended to provide a device.

[0010]

In order to achieve the above object, an active noise and vibration control apparatus according to the first aspect of the present invention provides a control sound or noise which interferes with noise or vibration emitted from a noise source or a vibration source. A control sound source or control vibration source capable of generating control vibration, a reference signal generating means for generating and outputting a reference signal indicating a state of occurrence of the noise or vibration, and a residual noise signal or detecting the noise or vibration after the interference. Residual noise detecting means or residual vibration detecting means for outputting as a residual vibration signal, the control sound source or control vibration source based on the reference signal and the residual noise signal or residual vibration signal, and the residual noise detecting means or residual vibration detecting means; Active control means for driving the control sound source or control vibration source so as to reduce the noise or vibration by using a control algorithm including a transfer function between the control algorithm and divergence of control Divergence state level detection means for detecting a state of divergence, divergence determination means for determining that control has diverged when the divergence state level exceeds a predetermined divergence threshold, and aging for detecting aging of the control system Detecting means; and divergence threshold value setting means for setting the divergence threshold value in accordance with the temporal change detected by the temporal change detecting means.

According to a second aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect of the present invention, the time-dependent change detecting means is configured to perform the control based on the heat exposure amount of the control sound source or the control vibration source. The change with time of the control system was detected.

According to a third aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect,
The time-dependent change detecting means detects a time-dependent change of the control system based on a cumulative operation time of the control sound source or the control vibration source.

According to a fourth aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect of the present invention, the active noise and vibration control apparatus further comprises a transfer function identifying means for identifying the transfer function; A temporal change of the control system is detected based on a peak frequency of the transfer function.

According to a fifth aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect of the present invention, the time-dependent change detecting means generates noise or vibration from the noise source or the vibration source. However, a temporal change in the control system is detected based on the residual noise signal or residual vibration signal when no control sound or control vibration is generated from the control sound source or control vibration source.

According to a sixth aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect of the present invention, the time-dependent change detecting means is configured such that the divergence state level exceeds a predetermined threshold value. The temporal change of the control system is detected based on the change tendency of the amplitude of the residual noise signal or the residual vibration signal at that time.

According to a seventh aspect of the present invention, in the active noise and vibration control apparatus according to the first to sixth aspects, the time-dependent change detecting means determines whether the change in the control system is a time-dependent change. It is configured to include a change-over-time verifying unit for verifying whether or not there is no change.

According to an eighth aspect of the present invention, in the active noise and vibration control apparatus according to the seventh aspect of the present invention, the active noise and vibration control apparatus further includes a temperature detecting means for detecting a temperature of the control sound source or the control vibration source or its surroundings. The time change verifying means performs the verification based on the temperature detected by the temperature detecting means.

According to a ninth aspect of the present invention, there is provided an active noise and vibration control apparatus according to the first aspect of the invention.
Transfer function identification means for identifying the transfer function, and a temperature detection means for detecting the temperature of the control sound source or control vibration source or its surroundings, the time-dependent change detection means, the temperature detected by the temperature detection means Along with the configuration including a temporal change verification unit that verifies whether the change in the control system is a temporal change based on the control sound source or the control vibration source and the residual noise detection unit or the residual vibration detection unit , The change with time of the control system is detected based on the peak frequency of the transfer function.

On the other hand, a tenth aspect of the present invention is the active noise and vibration control apparatus according to the first aspect of the present invention, wherein the time-dependent change detecting means is configured to detect the change with time based on the temperature detected by the temperature detecting means. The control system includes a temporal change verification unit that verifies whether the change of the control system is a temporal change, and the noise or vibration is emitted from the noise source or the vibration source, but the control sound source or the control vibration is generated. A temporal change of the control system is detected based on the residual noise signal or residual vibration signal when no control sound or control vibration is generated from the source.

Here, in the invention according to claim 1,
Since the temporal change of the control system is detected by the temporal change detecting means, for example, even if the elastic member or the like included in the actuator constituting the control sound source or the control vibration source deteriorates with time,
The deterioration with time can be recognized. And, for example, after the above-described deterioration with time in the control system, the performance of the control sound source and the control vibration source often decreases compared to before the occurrence, and if such performance decreases, before that. Unless driven by a drive signal of a different level from that of the above, an appropriate control sound or control vibration often does not occur.

On the other hand, the divergence threshold value setting means sets the divergence threshold value in accordance with the detection result of the aging threshold value detection means. If the relationship with the change over time detected by the change detecting means is appropriately selected in advance, the newly set divergence threshold value is an appropriate value for determining the divergence of the control system after the change over time. . Therefore, based on the divergence state level detected by the divergence state level detection unit and the divergence threshold set as described above, the divergence determination unit can determine the divergence of the control. As the divergence state level detected by the divergence state level detection means, the same one as the technique disclosed in the above-mentioned publication can be applied.

The invention according to claim 2 pays attention to the fact that the aging of a general mechanical device is often caused by the received heat. That is, the change with time detecting means obtains the heat exposure amount of the control sound source and the control vibration source, and detects the change with time of the control system (particularly, the change with time of the control sound source and the control vibration source) based on the heat exposure amount.

The invention according to claim 3 focuses on the point that a temporal change of a general mechanical device can be estimated based on the accumulated operation time. That is, the change over time detecting means obtains the cumulative operation time of the control sound source and the control vibration source, and detects the change over time of the control system (particularly, the change over time of the control sound source and the control vibration source) based on the cumulative operation time.

As described above, the invention according to claim 2 or 3 is for indirectly detecting a temporal change caused by a long-term use of a control sound source or a control vibration source. In contrast,
The invention according to claim 4, 5 or 6 is for directly detecting a temporal change of the control system.

That is, in the invention according to claim 4, the transfer function between the control sound source and the residual noise detecting means (or the transfer function between the control vibration source and the residual vibration detecting means) is determined by the transfer function identification. Identified by means, such transfer function is
If the control sound source, the residual noise detecting means, the control vibration source, the residual vibration detecting means, and the like do not change with time, there should be no change from the initial state. However, when they change over time, the transfer function also changes. Then, whether or not the transfer function has changed can be determined based on the peak frequency of the transfer function. For example, when the control sound source or the control vibration source includes an elastic member such as rubber, if the elastic member becomes hardened due to aging, the spring constant increases and the peak frequency of the transfer function shifts to a high frequency side. Thus, it can be determined that the control sound source and the control vibration source have changed with time when the peak frequency of the transfer function shifts to a higher frequency side as compared with the initial state.

Further, in the invention according to claim 5, the time-dependent change detecting means detects a time-dependent change of the control system based on a residual noise signal or a residual vibration signal when a predetermined condition is satisfied. However, the predetermined condition here is that noise or vibration is generated from the noise source or vibration source, but no control sound or control vibration is generated from the control sound source or control vibration source.

That is, if the above predetermined condition is satisfied, the noise or vibration generated from the noise source or vibration source is:
Since the noise reaches the residual noise detecting means or the residual vibration detecting means without interfering with the control sound or the control vibration, the noise between the noise source and the residual noise detecting means is determined based on the residual noise signal or the residual vibration signal at that time. It is possible to detect a temporal change of the transmission system or the vibration transmission system between the vibration source and the residual vibration detection means. When such a change in the transfer function system occurs with time, it can be determined that there is a high possibility that the control system has changed with time.

Further, in the invention according to claim 6,
The temporal change detecting means detects a temporal change of the control system based on the divergent state level detected by the divergent state level detecting means and a change tendency (increase tendency, decrease tendency) of the residual noise signal or the residual vibration signal.

That is, when the divergence state level exceeds a predetermined threshold value, the level of the residual noise signal or the residual vibration signal tends to increase if the control is diverging or diverging. It should have been or maintained at a high level.

However, when the level of the residual noise signal or the residual vibration signal tends to decrease despite the divergence state level exceeding a predetermined threshold value, it cannot be determined that the control is divergent. Rather, the reason why the divergence state level exceeds the predetermined threshold value is that it is necessary to exceed the predetermined threshold value, and it can be determined that there is a high possibility that the control system has changed with time. The predetermined threshold may be the same value as the divergence threshold at that time, or may be a value smaller than the divergence threshold.

Further, since the invention according to claim 7 includes a change-over-time verifying means, the control system is not changed over time, for example, when the change returns to the original state after a certain period of time. Thus, the possibility of erroneously recognizing a change with time is reduced.

For example, if the temperature detecting means is provided as in the invention according to claim 8, the temporal change verifying means can verify the temporal change based on the temperature detected by the temperature detecting means. In other words, when the temperature of the control sound source or the control vibration source or its surroundings is extremely low, if the control sound source or the control vibration source is configured to include an elastic member such as rubber, the spring of the elastic member may be used. Constant changes,
It is highly possible that this is erroneously detected as a change with time in the control system. However, if the aging deterioration verification unit performs verification based on the temperature detection value of the temperature detection unit as in the present invention, such an erroneous detection is possible. Possibilities can be reduced.

Further, in the inventions according to the ninth and tenth aspects, the same operation as the eighth aspect is exhibited.

[0034]

According to the present invention, since the aging detection means and the divergence threshold value setting means are provided, even if the control system changes over time, the divergence judging means is used to determine the divergence of the control. Since the threshold value is set according to the change with time, there is an effect that the possibility of erroneous determination of divergence can be further reduced.

In particular, according to the invention of claims 2 to 6,
Since the change with time in the control system can be detected more accurately, the divergence threshold can be set appropriately, and the effect of the present invention can be more reliably obtained.

According to the inventions of claims 7 to 10, the provision of the means for verifying the change with time can reduce the possibility of erroneous detection of the change with time, so that the effect of the present invention becomes more remarkable. In particular, if it is the invention according to claims 8 to 10,
Since the change with time is verified based on the temperature detected by the temperature detecting means, the possibility of erroneously detecting a change in the control system due to the temperature as a change with time is reduced, and the effect of the present invention is more remarkably achieved. Become.

[0037]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 to 5 show a first embodiment of the present invention. FIG. 1 shows a vehicle to which an active vibration control device according to an embodiment of the active noise vibration control device according to the present invention is applied. It is a schematic side view of.

First, the configuration will be described. The engine 30 is supported by a vehicle body 35 composed of a suspension member and the like via an active engine mount 1 capable of generating an active supporting force according to a drive signal. . Actually, between the engine 30 and the vehicle body 35, in addition to the active engine mount 1, a plurality of engine mounts that generate a passive supporting force according to the relative displacement between the engine 30 and the vehicle body 35 are interposed. doing. As a passive engine mount, for example, a normal engine mount that supports a load with a rubber-like elastic body, or a known fluid-filled mount in which a fluid is sealed inside a rubber-like elastic body so that a damping force can be generated. An insulator or the like can be applied.

On the other hand, the active engine mount 1 is configured, for example, as shown in FIG. That is, the active engine mount 1 according to this embodiment has a cap 2 integrally provided with a bolt 2a for attachment to the engine 30 at the upper part and having a hollow inside and an open lower part. , The upper end of the inner cylinder 3 whose shaft is oriented in the vertical direction is fixed by caulking.

The inner cylinder 3 has a shape in which the diameter at the lower end is reduced, and the lower end is horizontally bent inward.
Here, a circular opening 3a is formed. A diaphragm 4 is disposed inside the inner cylinder 3 so as to be interposed between the cap 2 and the caulking prevention portion of the inner cylinder 3 so as to divide the space inside the cap 2 and the inner cylinder 3 up and down. I have. The space above the diaphragm 4 communicates with the atmospheric pressure by making a hole in the side surface of the cap 2.

Further, an orifice structure 5 is disposed inside the inner cylinder 3. In the present embodiment, between the inner surface of the inner cylinder 3 and the orifice structure 5, an elastic body in the form of a thin film (the outer peripheral portion of the diaphragm 4 may be extended).
, Whereby the orifice structure 5 is firmly fitted inside the inner cylinder 3.

The orifice constituting member 5 is formed in a substantially cylindrical shape in alignment with the internal space of the inner cylinder 3, and has a circular concave portion 5a formed on the upper surface thereof. The recess 5a and the portion of the bottom surface facing the opening 3a communicate with each other via the orifice 5b. The orifice 5b has, for example, a groove spirally extending along the outer peripheral surface of the orifice structure 5, and one end of the groove formed by a recess 5a.
And a flow path that connects the other end of the groove to the opening 3a.

On the other hand, on the outer peripheral surface of the inner cylinder 3, the inner peripheral surface of a thick cylindrical support elastic body 6 whose inner peripheral surface side is slightly raised is vulcanized and bonded. The outer peripheral surface is vulcanized and bonded to the upper part of the inner peripheral surface of the outer cylinder 7 as a cylindrical member whose upper end is enlarged in diameter.

The lower end of the outer cylinder 7 is fixed by caulking to the upper end of a cylindrical actuator case 8 having an open upper surface, and the lower end of the actuator case 8 is used for mounting to the vehicle body 35 side. The mounting bolt 9 protrudes. The mounting bolt 9 is accommodated in a central hollow portion 8b of a flat plate member 8a provided with its head 9a attached to the inner bottom surface of the actuator case 8.

Further, inside the actuator case 8, a cylindrical iron yoke 10A and this yoke 10A
An excitation coil 10B wound around the center of the yoke with its axis up and down, and a permanent magnet 1 fixed with its poles up and down on the upper surface of a portion of the yoke 10A surrounded by the excitation coil 10B.
0C is provided.

The upper end of the actuator case 8 is a flange 8A formed in a flange shape.
The lower end portion of the outer cylinder 7 is swaged by the flange portion 8A, and the both are integrated. The peripheral portion (end portion) of the circular metal leaf spring 11 is sandwiched in the swaging preventing portion. A magnetic path member 12 that can be magnetized is fixed to a center portion of the leaf spring 11 on the side of the electromagnetic actuator 10 by a rivet 11a. The magnetic path member 12
Is an iron disk slightly smaller in diameter than the yoke 10A,
The bottom surface is formed so as to have a thickness close to the electromagnetic actuator 10.

Further, the ring-shaped thin film elastic body 13 and the flange portion 14a of the force transmitting member 14 are sandwiched between the flange portion 8A and the leaf spring 11 at the above-mentioned crimp-stopping portion.
And are supported. Specifically, the thin film elastic body 13, the flange portion 14a of the force transmitting member 14, and the leaf spring 11 are superimposed on the flange portion 8A of the actuator case 8 in this order, and The lower end of 7 is caulked and integrated.

The force transmitting member 14 is a short cylindrical member surrounding the magnetic path member 12, the upper end of which is a flange portion 14 a, and the lower end of which is provided on the upper surface of the yoke 10 A of the electromagnetic actuator 10. Are combined. Specifically, the lower end of the force transmitting member 14 is fitted into a circular groove formed in the peripheral edge of the upper end surface of the yoke 10A, and the two are joined. The spring constant of the force transmitting member 14 during elastic deformation is set to a value larger than the spring constant of the thin film elastic body 13.

Here, in the present embodiment, the supporting elastic member 6
A fluid chamber 15 is formed in a portion defined by the lower surface of the plate spring 11 and the upper surface of the leaf spring 11, and a sub-fluid chamber 16 is formed in a portion defined by the diaphragm 4 and the concave portion 5a. The fluid chambers 16 communicate with each other via an orifice 5b formed in the orifice structure 5. A fluid such as ethylene glycol is sealed in the fluid chamber 15, the sub-fluid chamber 16, and the orifice 5b.

The characteristics of the fluid mount determined by the flow path shape and the like of the orifice 5b include a high dynamic spring constant when an engine shake occurs during running, that is, when the active engine mount 1 is vibrated at 5 to 15 Hz. It is adjusted to show high damping force.

The exciting coil 10B of the electromagnetic actuator 10 generates a predetermined electromagnetic force according to a drive signal y which is a current supplied from the controller 25 through the harness 23a. Controller 25
Is composed of a microcomputer, necessary interface circuits, A / D converters, D / A converters, amplifiers, etc., and generates idle vibrations, muffled vibrations, and acceleration vibrations which are higher in frequency than the engine shake. When input to the vehicle body 35, an active supporting force capable of reducing the vibration is generated in the active engine mount 1.
A drive signal y for the active engine mount 1 is generated and output.

Here, idle vibration and muffled sound vibration are as follows.
For example, in the case of a reciprocating four-cylinder engine,
The main cause is that the engine vibration of the next component is transmitted to the vehicle body 35. Therefore, if the drive signal y is generated and output in synchronization with the engine rotation secondary component, the vehicle body can be reduced. Thus, in the present embodiment, the crankshaft of the engine 30 is synchronized with the rotation of the crankshaft so as to be synchronized with the combustion timing (for example, in the case of a reciprocating four-cylinder engine, one for each rotation of the crankshaft by 180 degrees). A pulse signal generator 26 for generating an impulse signal and outputting it as a reference signal x is provided, and the reference signal x is used as a signal representing the state of generation of vibration in the engine 30 by the controller 2.
5 is supplied.

On the other hand, the yoke 1 of the electromagnetic actuator 10
0A and the upper surface of the flat plate member 8a forming the bottom surface of the actuator case 8,
A load sensor 22 for detecting an exciting force transmitted from the engine 30 through the support elastic body 6 is provided, and a detection result of the load sensor 22 is supplied to the controller 25 as a residual vibration signal e through a harness 23b. ing. Specifically, as the load sensor 22, a piezoelectric element, a magnetostrictive element, a strain gauge, or the like can be applied.

Then, based on the supplied residual vibration signal e and reference signal x, the controller 25 performs a synchronous Filtered-X LMS which is one of adaptive algorithms.
By executing the algorithm, a drive signal y for the active engine mount 1 is calculated, and the drive signal y is calculated.
Is output to the active engine mount 1.

More specifically, the controller 25 has an adaptive digital filter W having a variable filter coefficient W _i (i = 0, 1, 2,..., I-1: I is the number of taps). At a predetermined sampling clock interval from the time when the reference signal x is input, the adaptive digital filter W
Of one of outputting a filter coefficient W _i in the order as the drive signal y, it is adapted to execute a process of appropriately updating the filter coefficient W _i of the adaptive digital filter W based on the reference signal x and the residual vibration signal e.

However, in this embodiment, the synchronous Fi
The following equation (1) is used as an evaluation function in the iterated-X LMS algorithm. Jm = {e (n)} ² + β {y (n)} ² (1) That is, in the LMS algorithm, the filter coefficient W _i is updated in a direction in which the evaluation function Jm decreases. As is clear from the content on the right side of the above equation (1), the filter coefficient W _i is set so that the square value of the residual vibration signal e decreases and the value obtained by multiplying the square value of the drive signal y by β decreases. , Will be updated sequentially. Β is a coefficient called a divergence suppression coefficient. As the divergence suppression coefficient β increases, the drive signal y tends to decrease. That is, the divergence suppression coefficient β has an effect of suppressing the divergence of the control.

When the convergence coefficient is α and an update equation for the filter coefficient W _i is obtained based on the evaluation function Jm expressed by the above equation (1), the following equation (2) is obtained. _{W i (n + 1) =} W i (n) + 2αR T e (n) -2βαy (n) ...... (2) Therefore, this (2) a new convergence factor to "2α" in the formula α
And then, if the a new divergence suppression factor β "2βα" update equation of the filter coefficients W _i of the adaptive digital filter W is as the following equation (3).

[0058] _{W i (n + 1) =} W i (n) + αR T e (n) -βy (n) ...... (3) where, in (n), (n + 1 ) terms that are attached sampling time n, n + 1 Value. The update reference signal R ^T is theoretically the reference signal x
The electromagnetic actuator 1 of the active engine mount 1
The value is a value obtained by filtering the transfer function C between 0 and the load sensor 22 using a transfer function filter C # that models the transfer function C. Since the magnitude of the reference signal x is "1", the impulse response of the transfer function filter C # is Are generated one after another in synchronization with the reference signal x, and coincide with the sum of the impulse response waveforms at the sampling time n.

Further, theoretically, the reference signal x is filtered by the adaptive digital filter W to generate the drive signal y. However, since the magnitude of the reference signal x is "1", the filter coefficient W _{Even if i} is sequentially output as the drive signal y, the result is the same as when the result of the filter processing is set as the drive signal y.

The controller 25 performs the output processing of the drive signal y and the adaptive digital filter W as described above.
While the vibration reduction processing including the update processing of each filter coefficient W _i is executed, the divergence detection processing for detecting the divergence of the control is executed.

In the divergence detection processing, in the present embodiment, the absolute value of the filter coefficient W _i of the adaptive digital filter W is obtained, and the judgment value W _H calculated based on the absolute value exceeds the divergence threshold γ. When the divergence is detected by the divergence detection process, a predetermined divergence suppression process for suppressing the divergence is executed. ing.

Further, the controller 25 determines whether or not the active engine mount 1 has deteriorated with time, and executes a process of setting a divergence threshold γ used in the divergence detection process according to the determination result. It is supposed to.

In the present embodiment, whether or not the active engine mount 1 has deteriorated with time is determined in the present embodiment by a large amount of heat exposure of the active engine mount 1 accumulated from the time of shipment. This is done depending on whether or not there is. In order to execute such a determination process,
A temperature sensor 28 is provided at a position close to the active engine mount 1, and a temperature detection signal t measured by the temperature sensor 28 is supplied to the controller 25.

The controller 25 determines whether or not the active engine mount 1 is in a high temperature state based on the supplied temperature detection signal t, and if it is in a high temperature state, sets a large temperature weighting coefficient A. on the other hand, the smaller the temperature weighting coefficient a when not in the high temperature state, the temperature weighting factor a that has been set as to accumulate the product of the elapsed time of such conditions as aging deterioration counter C _t, active engine mount 1 based on the value of the deterioration over time counter C _t
It is determined whether or not the heat exposure amount is large, and the divergence threshold γ is set according to the result. The divergence threshold gamma, in the range value of the deterioration over time counter C _t is small is set to a normal value, and the value of the deterioration with time counter C _t is increased so as to be set to a value larger than the normal value I have. The aging deterioration counter _Ct is sequentially stored in a non-volatile memory in the controller 25, and is read out at the time of the initial setting in step 101, whereby the heat exposure amount from the time of shipment of the vehicle is accumulated. It has become so.

Next, the operation of this embodiment will be described. That is, when the engine shake occurs, the flow path shape of the orifice 5a and the like are appropriately selected. As a result, the active engine mount 1 functions as a supporting device having a high dynamic spring constant and a high damping force. The engine shake is damped by the active engine mount 1, and the vibration level on the vehicle body 35 side is reduced. It is not necessary to actively displace the magnetic path member 12 for the engine shake.

On the other hand, when the fluid in the orifice 5a is in a stick state and the fluid having a frequency higher than the idle vibration frequency at which the fluid cannot move between the fluid chamber 15 and the sub-fluid chamber 16 is inputted, the controller is operated. The reference numeral 25 executes a predetermined arithmetic processing, outputs a drive signal y to the electromagnetic actuator 10, and causes the active engine mount 1 to generate an active supporting force capable of reducing vibration.

This will be specifically described with reference to FIG. 3 which is a flowchart showing the outline of the processing executed in the controller 25 when the idle vibration and the muffled sound vibration are input.
First, after a predetermined initial setting is performed in step 101, the process proceeds to step 102, where an update reference signal R ^T is calculated based on the transfer function filter C ＾. In this step 102, the update reference signal ^RT for one cycle is calculated collectively.

Then, the process proceeds to step 103, and after the counter i is cleared to zero, the process proceeds to step 104,
I-th filter coefficient W _{i of the} adaptive digital filter W
Is output as the drive signal y.

After the drive signal y is output in step 104, the process proceeds to step 105, where the residual vibration signal e is read. This residual vibration signal e is stored together with the current value of the counter i.

[0070] Then, the process proceeds to step 106, counter j is zero cleared, then the process proceeds to step 107, j-th filter coefficient W _j of the adaptive digital filter W is updated according to equation (3) above.

When the updating process in step 107 is completed, the process proceeds to step 108, where it is determined whether or not the next reference signal x has been input. If it is determined that the reference signal x has not been input, Then, the process proceeds to step 109 in order to update the next filter coefficient of the adaptive digital filter W or output the drive signal y.

In step 109, it is determined whether or not the counter j has reached the number of outputs T _y (to be precise, the value of the number of outputs T _y minus 1 since the counter j starts from 0). This determination after outputting the filter coefficient W _i of the adaptive digital filter W as the drive signal y in step 104, the filter coefficient W _i of the adaptive digital filter W, whether to update the necessary number as the drive signal y It is for judgment. Therefore, if the determination in step 109 is “NO”, step 11
After incrementing the counter j by 0, step 1
Returning to step 07, the above processing is repeatedly executed.

However, the determination in step 109 is "YE
In the case of "S", it can be determined that the update processing of the necessary number of filter coefficients as the drive signal y among the filter coefficients of the adaptive digital filter W has been completed.
Go to 1 and increment counter i, then
A time-dependent change detection process in step 200;
And a divergence detection process. The details of the temporal change detection processing and the divergence detection processing will be described later.

After the process of step 300 is completed, the process waits until the time corresponding to the predetermined sampling clock interval elapses after executing the process of step 104, and the time corresponding to the sampling clock elapses. Then, the process returns to the step 104 to repeatedly execute the above-described processing.

On the other hand, if it is determined in step 108 that the reference signal x has been input, the flow shifts to step 112 to add 1 to the counter i (exactly, since the counter i starts from 0). _Is stored as the latest output count Ty, and the process returns to step 102 to repeatedly execute the above-described processing.

As a result of repeatedly executing the processing of FIG. 3, the active engine mount 1
From the time when the reference signal x is input to the electromagnetic actuator 10 at an interval of the sampling clock.
The filter coefficients W _i of the adaptive digital filter W are sequentially supplied as drive signals y.

As a result, the drive signal y is supplied to the exciting coil 10B.
However, since a constant magnetic force is already applied to the magnetic path member 12 by the permanent magnet 10C,
It can be considered that the magnetic force of the exciting coil 10B acts to increase or decrease the magnetic force of the permanent magnet 10C. That is, when the drive signal y is not supplied to the excitation coil 10B, the magnetic path member 12 is displaced to a neutral position where the support force of the leaf spring 11 and the magnetic force of the permanent magnet 10C are balanced. When the drive signal y is supplied to the excitation coil 10B in this neutral state, if the magnetic force generated in the excitation coil 10B by the drive signal y is in the opposite direction to the magnetic force of the permanent magnet 10C, the magnetic path member 12
Is displaced in a direction in which the clearance with the electromagnetic actuator 10 increases. Conversely, if the magnetic force generated in the exciting coil 10B is in the same direction as the magnetic force of the permanent magnet 10C, the magnetic path member 12 is displaced in a direction in which the clearance with the electromagnetic actuator 10 decreases.

As described above, the magnetic path member 12 can be displaced in both the forward and reverse directions, and if the magnetic path member 12 is displaced, the main fluid chamber 15 is displaced.
Is changed, and the expansion spring of the support elastic body 6 is deformed by the change of the volume, so that the active engine mount 1 generates an active support force in both forward and reverse directions.

Then, each filter coefficient W _i of the adaptive digital filter W serving as the drive signal y is determined by a synchronous filter
Since the sequentially updated by the above equation (3) in accordance with the red-X LMS algorithm, after converged to optimum values each filter coefficient W _i of the adaptive digital filter W has passed a certain time, the drive signal y is By being supplied to the active engine mount 1, idle vibration and muffled sound vibration transmitted from the engine 30 to the vehicle body 35 via the active engine mount 1 are reduced.

Next, the specific contents of the temporal change detection processing in step 200 will be described with reference to FIG. 4. First, in step 201, the time T is read from a timer built in the controller 25, and the process proceeds to step 202. Subtract the previously read time T _old from the time T,
The elapsed time ΔT is calculated.

Next, the routine proceeds to step 203, where the temperature detection signal t is read from the temperature sensor 28, and step 20 is executed.
The process proceeds to step S4, and the temperature weighting coefficient A is set based on the temperature detection signal t. Here, A = 2 when the temperature detection signal t is higher than the predetermined temperature, and A = 1 when the temperature detection signal t is lower than the predetermined temperature.

Then, the flow shifts to step 205, where the aging counter _Ct is accumulated according to the following equation (4). C _t = C _t + ΔT · A (4) Next, the process proceeds to step 206, where the latest value of the aging deterioration counter C _t obtained in step 205 is stored in the nonvolatile memory, and the process proceeds to step 207. Step 201
_Is stored as time T _old .

[0083] Then, the process proceeds to step 208, sets a divergence threshold γ based on deterioration over time counter C _t.
In the present embodiment, as described later, the divergence state level W _H is calculated based on the filter coefficient W _i of the adaptive digital filter W, and the divergence state level W _H is compared with the divergence threshold γ. Thus, it is determined whether or not the control is diverging. Therefore, the divergence threshold value γ corresponding to the control is determined.

[0084] However, in step 208, time when the value of the deterioration counter C _t is larger than the predetermined value, the active engine mount 1 estimates that deterioration with time has occurred, a large value gamma ₁ than usual while set over time when the value of the deterioration counter C _t is smaller than a predetermined value, active engine mount 1 is estimated not to occur over time degradation, the divergence threshold gamma normal value gamma ₂ (<Γ ₁ ).

When the processing in step 208 is completed, the processing returns to the processing in FIG. 3, and the divergence detection processing in step 300 is executed. That is, when the divergence detection process is executed, FIG.
As shown in (1), first, in step 301, a divergence state level W _H for divergence determination is calculated based on the absolute value of the filter coefficient W _i of the adaptive digital filter W. Note that divergence level W _H, for example may be used as the maximum value of the absolute value of the filter coefficient W _i, or may be a sum of a predetermined number of the absolute value of the filter coefficient W _i.

Next, the routine proceeds to step 302, where it is determined whether or not the divergence state level W _H is greater than the divergence threshold γ. If the determination in step 302 is "NO", the divergence state is particularly determined. The level W _H is not excessive, and therefore, it can be determined that the filter coefficient W _i, which is the basis of the calculation, falls within a normal range that can be taken during the execution of appropriate vibration reduction control. Therefore, it is determined that no divergence tendency is found in the control, and the current divergence detection process is terminated as it is.

However, the determination in step 302 is “YE
In the case of S "divergence level W _H is excessively large, the filter coefficient W _i is the calculation basis, it can be determined that is in a suitable vibration reduction control execution has led to a large value that can not be taken. Therefore, it is determined that the vibration reduction control has a divergence tendency, and the process proceeds to step 303 to execute a divergence suppression process. The divergence suppression processing in step 303 is not particularly limited here. For example, each filter coefficient W _i of the adaptive digital filter W that changes the divergence suppression coefficient β to a value larger than a normal value is initialized. Each filter coefficient W of the adaptive digital filter W reset to a value
The value of _i may be reduced by a predetermined ratio (for example, 50%), or the adaptive digital filter W may be low-pass filtered to remove high frequency components. Alternatively, as the divergence suppression processing, the vibration reduction control itself as shown in FIG. 3 may be prohibited so that the active engine mount 1 functions as a mere passive engine mount. This measure of prohibiting the vibration reduction control is effective when divergence occurs repeatedly even if other divergence suppression processing is executed. When the vibration reduction control is prohibited, it is desirable to turn on a predetermined lamp provided on a dash panel, for example, to notify the user of the fact.

When the processing in step 303 is completed, the processing in FIG. 5 is terminated and the processing returns to the processing in FIG. As described above, in the present embodiment, by executing the divergence detection process in step 300, it is determined whether or not the control has a divergence. If the control has a divergence, the divergence is determined. Is executed, the control can be prevented from diverging in earnest.

Further, in the present embodiment, the divergence threshold used for determining the divergence of the control is set to a different value depending on whether or not the active engine mount 1 has deteriorated with time. Step 3
In the process of 00, there is an advantage that the possibility of erroneous detection or oversight of divergence can be reduced.

In other words, the active engine mount 1 according to the present embodiment has a configuration including the supporting elastic body 6 which is a rubber-like elastic body and the metal leaf spring 11. When the amount of heat exposure of the engine mount 1 becomes large and deteriorates with time, an appropriate supporting force is often not generated unless the drive signal y is larger than before the deterioration with time. Therefore, although each filter coefficient W _i of the adaptive digital filter W is become large as natural, the larger the filter coefficient W _i is, the larger divergence level W _H that is calculated in step 301 of FIG. 5 Therefore, there is a high possibility that it is determined in step 302 that the control has a tendency to diverge. However, in such a situation, the filter coefficients W _i of the adaptive digital filter W need to be large, and thus have become large. This hinders effective execution of the reduction control.

Conversely, if the divergence threshold value γ is set to a large value in advance, the possibility that the determination in step 302 will be “YES” is reduced accordingly, and the possibility of overlooking the divergence of the control is increased. It will be.

Therefore, when it is estimated that the active engine mount 1 has deteriorated with time as in the present embodiment, if the divergence threshold γ is set to a large value, erroneous detection of divergence can be prevented. The possibility of oversight can be reduced, and this is extremely effective in executing good vibration reduction control.

Further, in the present embodiment, the product of the elapsed time ΔT obtained from the time T of the timer and the temperature detection signal t supplied from the temperature sensor 28 is accumulated, and based on the accumulated value, Therefore, the calculation load of the controller 25 is not significantly increased.

Here, in the present embodiment, the engine 30
Corresponds to the vibration source, the active engine mount 1 corresponds to the control vibration source, the pulse signal generator 26 corresponds to the reference signal generation means, and the processing of steps 102 to 112 in FIG. 3 corresponds to the active control means. The load sensor 22 corresponds to the residual vibration detecting means, the processing of step 301 in FIG. 5 corresponds to the divergence state level detecting means, the processing of step 302 corresponds to the divergence determining means, and the processing of steps 201 to 207 in FIG. The processing corresponds to a change over time detecting means, the processing of step 208 corresponds to a divergence threshold value setting means, and the temperature sensor 28 corresponds to a temperature detecting means.

FIGS. 6 and 7 show the second embodiment of the present invention. FIG. 6 is a flowchart showing the flow of the temporal change detection processing. Note that other configurations and processing contents are the same as those in the first embodiment, and thus illustration and description thereof are omitted.

That is, when the temporal change detection processing in step 200 in FIG. 3 is executed, first, in step 401 in FIG. 6, the identification processing of the transfer function C is executed. Transfer function C
In the identification process, a sinusoidal signal having a predetermined frequency is output as the drive signal y, and a gain and a phase are calculated based on the residual vibration signal e at that time to obtain a transfer function at the predetermined frequency. The processing may be performed over a necessary frequency band to obtain the transfer function C. Alternatively, an impulse signal may be output as the drive signal y and the impulse response obtained by taking in the residual vibration signal e at that time. This may be used as the transfer function C. However,
When executing these methods, it is necessary to limit the method to, for example, starting the engine. The transfer function C is identified by superimposing a white noise signal for identification on the drive signal y and using the residual vibration signal e at that time to perform LMS
Processing performed according to an algorithm is also conceivable. With this method, identification is possible even during execution of the vibration reduction control.

When the transfer function C is obtained, step 40
Then, the process proceeds to step 2 where the temperature detection signal t supplied from the temperature sensor 28 is read. Then, the process proceeds to step 403, and determines whether the active engine mount 1 is in a low temperature state based on the read temperature detection signal t.

[0098] If the active engine mount 1 is determined to be in a low temperature state in this step 403, the process proceeds to step 404, the divergence threshold gamma, set to a normal value gamma _2, this this time After the process of FIG. 6 is completed, the process returns to the process of FIG.

On the other hand, the determination in step 403 is “N
In the case of “O”, the process proceeds to step 405,
The peak frequency based on the transfer function C identified in 01 (gain maximum frequency) Request f _p. The peak frequency f _p can be obtained by performing the FFT processing on the transfer function C.

[0100] Then, the process proceeds to step 406, determines the peak frequency f _p is whether higher than the threshold frequency f _th. If this determination is “NO”, then step 40
Move to 4.

However, the determination in step 406 is "YE
In the case of S ", the process proceeds to step 407 it is determined that the deterioration with time in the active engine mount 1 has occurred, the divergence threshold gamma, than the normal set to a large value gamma _1. When the processing of step 407 is completed, this FIG.
Is completed, and the process returns to the process of FIG.

Here, it is assumed that the active engine mount 1 has deteriorated with time.
Since the spring constant of the elastic support body 6 is increased, the peak frequency f _p of the transfer function C as shown in FIG. 7 shifts to the high frequency side as compared with the peak frequency of the initial state. Thus, previously set threshold frequency f _th slightly higher frequency than the peak frequency f _p in the initial state, when the peak frequency f _p of the transfer function C has exceeded the threshold frequency f _th is active It can be determined that there is a high possibility that the time-dependent deterioration has occurred in the mold engine mount 1.

For this reason, if the divergence threshold value γ is set according to the result of the determination in step 406, the divergence detection process similar to that of the first embodiment is executed thereafter, whereby the first embodiment is executed. The same operation and effect as those of the embodiment can be obtained.

Further, in this embodiment, if it is determined in step 403 that the temperature of the active engine mount 1 is low, the processing in steps 405 and 406 is not performed, and the processing immediately proceeds to step 404. When the active engine mount 1 is at a low temperature, for example, immediately after the engine 30 that has been stopped for a relatively long time is started, the support in the active engine mount 1 There is a high possibility that the spring constant of the elastic body 6 is higher than usual, and in such a state, the determination in step 406 becomes “YES” even though the active engine mount 1 has not deteriorated with time. This is because the divergence threshold γ may be set to a large value.
That is, by executing the determination in step 403,
Even if the active engine mount 1 has not deteriorated with time, the possibility of erroneously detecting the deterioration can be reduced.

Here, in the present embodiment, step 40
Step 1 corresponds to the transfer function identification means.
The processes of 3,405,406 correspond to the time-dependent change detecting means, of which the process of step 403 corresponds to the time-dependent change verifying means, and the processes of steps 404,407 correspond to the divergence threshold value setting means.

FIGS. 8 to 10 are views showing a third embodiment of the present invention. FIG. 8 is a flowchart showing the overall flow of processing executed in the controller 25, and FIG.
5 is a flowchart showing a flow of a temporal change detection process. In addition, other configurations and contents of the processing are the same as those of the first
Since the third embodiment is the same as the first embodiment, illustration and description thereof will be omitted, and the same processes as those in the first embodiment will be denoted by the same step numbers, and redundant description will be omitted.

That is, in the present embodiment, as shown in FIG. 8, after the initial setting is completed in step 101, the process proceeds to step 500 to execute the time-dependent change detection processing, and when the processing in step 111 is completed. , Step 300
To execute the divergence detection process.

Then, after proceeding to step 500, as shown in FIG. 9, first in step 501, the temperature detection signal t is read, and then proceed to step 502,
It is determined whether the active engine mount 1 is in a low temperature state based on the temperature detection signal t. This step 5
If the determination of 02 is “YES”, it is determined that even if a change has occurred in the active engine mount 1, it cannot be determined whether or not the change is due to a change over time, and the process proceeds to step 503. In step 503, it sets a divergence threshold gamma to a normal value gamma _2.

However, the determination in step 502 is “YE
In the case of S ", the process proceeds to step 504 reads the residual vibration signal e, then proceeds to step 505 to obtain an amplitude e _A of the residual vibration signal e. However, in step 505, it detects the maximum amplitude e _A of the residual vibration signal e read in step 504.

Next, the routine proceeds to step 506, where the engine speed N is calculated based on the input interval of the reference signal x.
Next, the routine proceeds to step 507, where the engine speed N becomes
The controller 25 determines whether or not has reached a predetermined rotational speed N ₁ corresponding to the lower limit of the frequency band to perform vibration reduction control.

If the determination in step 507 is "NO", it is determined that the engine speed for executing the vibration reduction control has not yet been reached, and the flow returns to step 504 to repeatedly execute the above-described processing.

That is, in the processing of steps 504 and 505, since the engine 30 is in the driving state,
Is generated in the active engine mount 1, but is repeatedly executed under the condition that no control vibration is generated from the active engine mount 1.

Then, the determination in step 507 is "YE
When it becomes a S ", the process proceeds to step 508, at this point, so that as the amplitude e _A, the maximum amplitude of the residual vibration signal e under the circumstances is stored.

In step 508, it is determined whether or not the amplitude e _A is larger than the threshold value e _th , and the determination is “NO”.
In this case, it is determined that the active engine mount 1 has not deteriorated with time, and the flow shifts to step 503 to set the divergence threshold γ to the normal value γ ₂ . On the other hand, if the determination in step 508 is “YES”, it is determined that there is a high possibility that the active engine mount 1 has deteriorated with time, and the flow shifts to step 509 to increase the divergence threshold γ. It is set to a value γ _1. When the processing of step 503 or 509 is completed, the processing of FIG.
It returns to the processing of.

That is, the controller 25 controls the engine 3
At the time of activation of 0, it is determined whether or not the active engine mount 1 has deteriorated with time, and a process of setting the divergence threshold γ is executed. This is because the controller 25 does not execute the vibration reduction control when the engine 30 has not started in a state where idle vibration or muffled sound vibration is generated. Therefore, the electromagnetic actuator 10 is in a non-drive state and control vibration is generated. Engine 3
This is because the vibration generated by the combustion at zero reaches the load sensor 22 without being actively reduced, and is therefore very suitable for judging a change in the vibration transmission system.

Therefore, the threshold value e _th used for the determination in step 508 is set to the amplitude e obtained when the processing of steps 504 to 507 is executed in the initial state of the vehicle.
If a value slightly larger than _A is set, step 50
By performing the determination of 8, it is possible to determine whether or not the active engine mount 1 has deteriorated with time. That is, as shown in FIG. 10, in the initial state, the spring constant of the support elastic body 6 does not particularly increase, so that the amplitude of the residual vibration signal e is not so large.
After the deterioration with time, the spring constant of the supporting elastic body 6 increases, and the amplitude of the residual vibration signal e also increases. Therefore, the deterioration with time of the active engine mount 1 can be determined based on the amplitude. is there. Therefore, also in the present embodiment, it is possible to obtain the same functions and effects as those of the first embodiment.

Further, the determination in step 502 is "YES".
In the case of (1), since the process unconditionally proceeds to step 503, the possibility of erroneous detection of the deterioration with time is low as in the second embodiment.

Here, in the present embodiment, the processing of step 502 corresponds to the aging deterioration verification means, and the processing of steps 504 to 508 corresponds to the aging change detection means.
11 to 14 are views showing a fourth embodiment of the present invention. FIG. 11 is a flowchart showing an overall flow of processing executed in the controller 25, and FIG. It is a flowchart which shows a flow. In addition, since the other configuration and the contents of the processing are the same as those in the first embodiment, the illustration and description thereof are omitted, and the same processing as in the first embodiment is performed by the same step. Numbers are assigned, and redundant description is omitted.

That is, in the present embodiment, step 105
After reading the residual vibration signal e, the process proceeds to step 120, where the amplitude e _A of the residual vibration signal e is obtained. In this step 120, and obtains the amplitude e _A of the residual vibration signal e at each time point.

On the other hand, from step 111 to step 600
When the time-dependent change detection process is executed after the process proceeds to step 601, the divergence state level W _H is first calculated in step 601 as shown in FIG. The divergence state level W _H is shown in FIG.
The calculation is performed in the same manner as in the process of step 301 in FIG. Therefore,
It is not necessary to calculate the divergence state level W _H again in the divergence detection processing in step 300.

Then, the flow shifts to step 602, where it is determined whether or not the divergence state level W _H exceeds the threshold value W _th . The threshold value W _th is usually slightly smaller than the value gamma ₂ at the divergent threshold gamma.

When the determination in step 602 is “NO”, it is determined that the active engine mount 1 has not deteriorated with time since the vibration level has not particularly deteriorated, and the flow proceeds to step 603 to diverge. The threshold value γ is a normal value γ ₂ .

On the other hand, the determination in step 602 is “Y
In the case of ES ", it is determined that since the filter coefficients W _i for at least the adaptive digital filter W is larger, there is a possibility that the deterioration with time in the active engine mount 1 has occurred, the process proceeds to step 604.

In step 604, step 1
It is determined whether or not the amplitude e _A obtained in step 20 is decreasing. If the determination of step 604 is "NO", to have increased the filter coefficient W _i of the adaptive digital filter W, and, since the vibration level can be determined to be in deteriorating, control can in divergent Then, the process proceeds to step 603.

However, the determination in step 604 is “YE
In the case of "S", the filter coefficient W _i of the adaptive digital filter W is certainly large, but the vibration level does not tend to deteriorate, so it can be determined that the vibration reduction control is working effectively. the W _i is increased, it can be estimated that the state of the transmission occurs over time deteriorates the active engine mount 1 function C is because changes from the initial state.

Then, the flow shifts to step 605, where the divergence threshold value γ is set to a value γ ₁ which is larger than usual. When the processing of step 603 or 605 is completed, the processing of FIG. 12 is terminated, and the processing returns to the processing of FIG.

That is, as shown in FIG.
, The amplitude of the residual vibration signal e generally tends to decrease or stabilizes at a low level if the vibration reduction control works well. . Therefore, as shown in FIG. 14, even if the divergence state level W _H reaches the threshold value W _th , if the amplitude e _A of the residual vibration signal e tends to decrease, the control works well and the divergence It can be estimated that the state level W _H has increased because the active engine mount 1 has deteriorated with time. Therefore, also in the present embodiment, the same functions and effects as those of the first embodiment can be obtained.

In the present embodiment, threshold value W _th can be made equal to divergence threshold value γ. In this case, since the determination in step 602 and the determination in step 302 in FIG. 5 overlap, this processing may be integrated to determine whether to directly proceed to step 303.

In each of the above embodiments, the divergence threshold value γ is set in two levels, but may be three or more levels, or in the first embodiment. it may be linearly changed according to the value of the deterioration over time counter C _t in the case like. The divergence threshold γ may be changed according to the control environment, as disclosed in the above-mentioned publication.

In each of the above embodiments, since the load sensor 22 built in the active engine mount 1 is used as the residual vibration detecting means, when the vibration reduction control is executed, the active engine mount 1 is used. The vibration transmitted to the vehicle body 35 can be reduced, but the present invention is not limited to this. For example, if the acceleration sensor disposed at the foot position of the occupant is used as the residual vibration detecting means,
Control vibration can be generated by the active engine mount 1 so as to reduce vibration propagating to the foot position of the occupant.

Further, in each of the above embodiments, the case where the active noise and vibration control apparatus according to the present invention is applied to an active vibration control apparatus for a vehicle that reduces the vibration transmitted from the engine 30 to the vehicle body 35 is described. Although described, the application of the present invention is not limited to this. For example, an active noise control device that reduces noise transmitted from the engine 30 as a noise source into the vehicle interior may be used. In the case of such an active noise control device, a loudspeaker as a control sound source for generating a control sound in the vehicle interior, and a microphone as a residual noise detecting means for detecting residual noise in the vehicle interior are provided. together to drive the loudspeaker in response to the drive signal y obtained by the same calculation processing as each of the embodiments, using the process of updating the filter coefficient W _i of the adaptive digital filter W output of the microphone as the residual noise signal e, If the temporal change detection processing and the divergence detection processing are executed, the same operation and effect as those of the above embodiments can be obtained.

The application of the present invention is not limited to a vehicle, but includes an active vibration control device, an active noise control device, and the like for reducing periodic vibrations and noises generated outside the engine 30. Aperiodic vibration and noise (random /
The present invention is applicable to an active vibration control device and an active noise control device for reducing noise), and the same operational effects as those of the above embodiments can be obtained regardless of the application object. . For example, even if it is a device or the like that reduces vibration and noise transmitted from a machine tool to a floor or a room,
The present invention is applicable.

Further, in each of the above embodiments, the case where the synchronous Filtered-XLMS algorithm is applied as the adaptive algorithm has been described. However, the applicable adaptive algorithm is not limited to this. It may be a Filtered-X LMS algorithm or the like.

[Brief description of the drawings]

FIG. 1 is a schematic side view of a vehicle showing a first embodiment.

FIG. 2 is a sectional view showing an example of an active engine mount.

FIG. 3 is a flowchart illustrating an outline of a vibration reduction process.

FIG. 4 is a flowchart showing an outline of a temporal change detection process.

FIG. 5 is a flowchart illustrating an outline of a divergence detection process.

FIG. 6 is a flowchart illustrating an outline of a temporal change detection process according to the second embodiment;

FIG. 7 is a frequency characteristic diagram for explaining the operation of the second embodiment.

FIG. 8 is a flowchart illustrating an outline of a vibration reduction process according to the third embodiment.

FIG. 9 is a flowchart illustrating an outline of a temporal change detection process according to the third embodiment.

FIG. 10 is a waveform chart for explaining the operation of the third embodiment.

FIG. 11 is a flowchart illustrating an outline of a vibration reduction process according to a fourth embodiment.

FIG. 12 is a flowchart illustrating an outline of a temporal change detection process according to the fourth embodiment;

FIG. 13 is a waveform chart for explaining the operation of the fourth embodiment.

FIG. 14 is a waveform chart for explaining the operation of the fourth embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Active engine mount (control vibration source) 22 Load sensor (residual vibration detection means) 25 Controller 26 Pulse signal generator (reference signal generation means) 28 Temperature sensor 30 Engine (vibration source) 35 Body

Claims (10)

[Claims] 1. A control sound source or control vibration source capable of generating a control sound or control vibration that interferes with noise or vibration emitted from a noise source or a vibration source, and a reference signal indicating a generation state of the noise or vibration. Reference signal generating means for outputting, residual noise detecting means or residual vibration detecting means for detecting noise or vibration after the interference and outputting it as a residual noise signal or residual vibration signal, and the reference signal and the residual noise signal or residual vibration The control sound source or the control vibration source such that the noise or vibration is reduced by using a control algorithm including a transfer function between the control sound source or the control vibration source and the residual noise detection means or the residual vibration detection means based on a signal. , A divergence state level detecting means for detecting a divergence state level of the control, and the divergence state level exceeds a predetermined divergence threshold. A divergence determining unit that determines that the control has diverged in the case; a temporal change detecting unit that detects a temporal change of the control system; and the divergence threshold is set according to the temporal change detected by the temporal change detecting unit. And a divergence threshold value setting means. 2. The active noise and vibration control according to claim 1, wherein said temporal change detecting means detects a temporal change of said control system based on a heat exposure amount of said control sound source or control vibration source. apparatus. 3. The active noise and vibration control according to claim 1, wherein said temporal change detecting means detects a temporal change of said control system based on a cumulative operating time of said control sound source or control vibration source. apparatus. 4. A transfer function identifying means for identifying the transfer function, wherein the temporal change detecting means detects a temporal change of the control system based on a peak frequency of the transfer function. 2. The active noise and vibration control device according to 1. 5. The method according to claim 1, wherein the change with time is performed when noise or vibration is emitted from the noise source or vibration source, but no control sound or control vibration is generated from the control sound source or control vibration source. 2. The active noise and vibration control device according to claim 1, wherein a change with time of said control system is detected based on a residual noise signal or a residual vibration signal. 6. The temporal change detecting means detects a temporal change of the control system based on a change tendency of the amplitude of the residual noise signal or the residual vibration signal when the divergence state level exceeds a predetermined threshold. 2. The active noise and vibration control apparatus according to claim 1, wherein the apparatus is adapted to detect. 7. The change-over-time detecting means according to claim 1, wherein the change-over-time detecting means includes a change-over-time verifying means for verifying whether the change of the control system is a change over time. Active noise and vibration control device. 8. A temperature detecting means for detecting a temperature of the control sound source or the control vibration source or its surroundings, wherein the temporal change verifying means performs the verification based on the temperature detected by the temperature detecting means. The active noise and vibration control device according to claim 7, wherein 9. A transfer function identification unit for identifying the transfer function, and a temperature detection unit for detecting a temperature of the control sound source or the control vibration source or its surroundings, wherein the time-dependent change detection unit includes the temperature detection unit. Along with comprising a temporal change verification means for verifying whether the change of the control system is a temporal change based on the temperature detected by the means, the control sound source or control vibration source and the residual noise detecting means or 2. The active noise and vibration control apparatus according to claim 1, wherein a change with time of said control system is detected based on a peak frequency of a transfer function between said control means and said residual vibration detection means. 10. The aging change detecting means is configured to include aging change verifying means for verifying whether or not the change in the control system is aging based on the temperature detected by the temperature detecting means. Based on the residual noise signal or residual vibration signal when noise or vibration is emitted from the noise source or vibration source but control sound or control vibration is not generated from the control sound source or control vibration source, 2. The active noise and vibration control device according to claim 1, wherein a change with time of said control system is detected.