JPH11338553A - Active vibration controller and active noise controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make specifiable the position of an abnormality occurring in an electromagnetic actuator which generates an active support force and a load sensor which generates a residual vibration signal. SOLUTION: In a step 201, the amplitude of a residual vibration signal eF is retrieved first and stored as an amplitude value AF. In a following step 202, the amplitude AF is compared with a threshold value eth1 and when AF>=eth1 , it is judged that no abnormality of an active engine mount is detected specially. If AF<eth1 , on the other hand, it is judged that the active engine mount is abnormal and in a step 203, the amplitude of a residual vibration signal eR is retrieved and stored as an amplitude AR. In a step 204, the amplitude AR is compared with a threshold value eth2 and when AR<=eth2 , it is judged that the load sensor has wire break abnormality, etc. When AR<eth2 , on the other hand, it is judged that the electromagnetic actuator has wire break abnormality, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active vibration control device and an active noise control device for reducing vibration and noise by generating active control vibration and control sound to interfere with the vibration and noise. In particular, an active vibration control device and an active vibration control device including a control vibration source / control sound source for generating control vibration / control sound, and residual vibration detection means / residual noise detection means for detecting noise / vibration after interference. In the noise control device, when an abnormality occurs in the control vibration source / control sound source or the residual vibration detection means / residual noise detection means, the abnormality is detected by the control vibration source / control sound source / residual vibration detection means /
It is possible to determine which of the residual noise detecting means has occurred, and to take appropriate measures.

[0002]

2. Description of the Related Art As a conventional technique of this kind, for example, there is a technique described in Japanese Patent Application Laid-Open No. Hei 8-109946 previously proposed by the present applicant. That is, the prior art disclosed in this publication relates to an active vibration control device, in which a vibration isolating support device interposed between a vibrating body and a support is replaced with a passive liquid filled type vibration isolating device. Similarly to the supporting device, the vibration transmitted from the vibrating body to the supporting body side can be suppressed by utilizing the resonance of the fluid flowing between the two fluid chambers, and the fluid is prevented from flowing at a relatively high frequency. The movable member forming a part of the partition of the chamber is actively displaced, and the pressure change of the fluid chamber is made to act on the expansion spring of the support elastic body, so that an active support force is generated and the vibration can be canceled. I was

That is, a movable member forming a part of a partition of a fluid chamber in a vibration isolating support device is elastically supported in the vibration isolating supporting device by an elastic member so as to be displaceable in a direction in which the volume of the fluid chamber changes. At the same time, the volume of the fluid chamber is positively changed by displacing the movable member with, for example, an electromagnetic actuator. Further, a drive signal for driving the electromagnetic actuator is generated in accordance with a sequential update algorithm such as an LMS algorithm based on a reference signal indicating a state of occurrence of vibration and a residual vibration signal indicating a state of reduction of vibration. Was.

[0004]

Certainly, even in the above-mentioned conventional apparatus, the vibration transmitted from the vibrating body to the supporting body through the vibration isolating supporting device can be offset to some extent by the active supporting force. Therefore, it is possible to contribute to the reduction of the vibration on the support side.

[0005] However, in the above-described conventional apparatus, even if an abnormality occurs in an electromagnetic actuator for generating an active supporting force or in a load sensor for generating a residual vibration signal, the abnormality is not affected. There is an unsolved problem that it is inconvenient to identify an abnormality occurrence part and to take appropriate measures at the time of repair. Incidentally, such an unsolved problem also has an active noise control device as disclosed in, for example, JP-A-6-230786.

The present invention has been made in view of such unresolved problems of the prior art, and an abnormality is detected in any one of the control vibration source / control sound source and the residual vibration detecting means / residual noise detecting means. It is an object of the present invention to provide an active vibration control device and an active noise control device capable of judging whether the noise has occurred.

[0007]

According to one aspect of the present invention, there is provided a control vibration source capable of generating a control vibration that interferes with a vibration generated from a vibration source, and a state of generation of the vibration. A reference signal generating unit that generates and outputs a reference signal representing the following, a residual vibration detecting unit that detects the vibration after the interference and outputs the residual vibration signal, and according to a predetermined control algorithm based on the reference signal and the residual vibration signal. An active control means for driving the control vibration source so as to reduce the vibration after the interference, wherein the control emitted from the control vibration source separately from the residual vibration detection means. A control vibration detecting means for detecting vibration and outputting it as a control vibration detection signal is provided,
Abnormality determining means for determining whether or not an abnormality has occurred in any of the control vibration source and the residual vibration detecting means based on the residual vibration signal when the control vibration source is driven; When the means determines that an abnormality has occurred, based on the control vibration detection signal, an abnormal part that determines whether the abnormality has occurred in the control vibration source or the residual vibration detection means. Judgment means.

According to a second aspect of the present invention, in the active vibration control device according to the first aspect of the present invention, the abnormality judging means is configured to output the abnormal vibration signal when the residual vibration signal is less than a predetermined threshold value. It is determined that an abnormality has occurred in either the control vibration source or the residual vibration detection means.

According to a third aspect of the present invention, in the active vibration control apparatus according to the first or second aspect of the present invention, the abnormal portion determining means is configured to determine that the control vibration detection signal is less than a predetermined threshold value. In this case, it is determined that the abnormality has occurred in the control vibration source.

According to a fourth aspect of the present invention, in the active vibration control device according to the first to third aspects, the abnormal portion determining means determines that the control vibration detection signal is higher than a predetermined threshold value. In this case, it is determined that an abnormality has occurred in the residual vibration detecting means.

Further, the invention according to claim 5 is the active vibration control device according to any one of claims 1 to 4, wherein a plurality of sets of the control vibration source and the residual vibration detection means are provided, and The means uses another set of the residual vibration detecting means as the control vibration detecting means when judging an abnormal portion of the one set of the control vibration source and the residual vibration detecting means.

Further, according to a sixth aspect of the present invention, in the active vibration control apparatus according to the first to fifth aspects, a transmission for identifying a transfer function between the control vibration source and the residual vibration detecting means is provided. A function identification unit is provided, and the abnormality determination unit performs the determination when the transfer function identification unit is executing the transfer function identification processing.

[0013] On the other hand, in order to achieve the above object, an invention according to claim 7 provides a control sound source capable of generating a control sound that interferes with noise generated from a noise source, and a reference signal indicating the generation state of the noise. A reference signal generating means for generating and outputting; a residual noise detecting means for detecting the noise after the interference and outputting it as a residual noise signal; and the noise after the interference according to a predetermined control algorithm based on the reference signal and the residual noise signal. An active control means for driving the control sound source so as to reduce the noise, wherein the control sound detection is performed by detecting the control sound emitted from the control sound source separately from the residual noise detection means. A control sound detection unit that outputs the control sound source and the residual noise detection based on the residual noise signal when the control sound source is driven. Abnormality determining means for determining whether an abnormality has occurred in any of the stages; and, when the abnormality determining means determines that an abnormality has occurred, an abnormality has occurred based on the control sound detection signal. Abnormal portion determining means for determining whether the control sound source is the control sound source or the residual noise detecting means.

According to an eighth aspect of the present invention, in the active noise control apparatus according to the seventh aspect of the present invention, when the residual noise signal is less than a predetermined threshold value, It is determined that an abnormality has occurred in either the control sound source or the residual noise detection means.

According to a ninth aspect of the present invention, in the active noise control apparatus according to the seventh or eighth aspect, the abnormal portion judging means is configured so that the control sound detection signal is less than a predetermined threshold value. In this case, it is determined that an abnormality has occurred in the control sound source.

According to a tenth aspect of the present invention, in the active noise control apparatus according to the seventh to ninth aspects, the abnormal portion determining means determines that the control sound detection signal is greater than or equal to a predetermined threshold value. In this case, it is determined that the abnormality has occurred in the residual noise detecting means.

Further, an invention according to claim 11 is the active noise control apparatus according to any one of claims 7 to 10, further comprising a plurality of the residual noise detecting means, wherein the abnormal portion judging means comprises the residual noise detecting means. One of the detection means,
The control sound detection means is used.

According to a twelfth aspect of the present invention, in the active noise control apparatus according to the seventh to eleventh aspects, a transfer function for identifying a transfer function between the control sound source and the residual noise detecting means is provided. An identification unit is provided, and the abnormality determination unit performs the determination when the transfer function identification unit is executing the transfer function identification processing.

Here, in the invention according to claim 1,
If no abnormality such as disconnection has occurred in either the control vibration source or the residual vibration detecting means, the control vibration generated by the control vibration source is detected by the residual vibration detecting means as a residual vibration signal having a predetermined waveform. Should be.

However, when a normal residual vibration signal is not detected even when a drive signal is output to the control vibration source, the control vibration source does not operate normally because the control vibration source has an abnormality such as disconnection. If the same control vibration as during normal operation has not occurred, or if the control vibration source operates normally and control vibration has occurred, but the residual vibration detection means has an abnormality such as disconnection. Either, the residual vibration detecting means cannot normally detect and output it.

Therefore, the abnormality judging means can only judge whether at least one of the control vibration source and the residual vibration detecting means has an abnormality based on the residual vibration signal.

For example, when the level of the residual vibration signal is less than a predetermined threshold value, it is determined that an abnormality has occurred in either the control vibration source or the residual vibration detecting means. can do. Alternatively, when the waveform of the residual vibration signal is significantly different from that in the normal state, it may be determined that an abnormality has occurred in either the control vibration source or the residual vibration detecting means.

The control vibration detecting means provided separately from the residual vibration detecting means, like the residual vibration detecting means,
The control vibration generated by the control vibration source can be detected, and the possibility that any two or all of the control vibration source, the residual vibration detection means, and the control vibration detection means fail simultaneously is extremely low.

Therefore, when the abnormality judging means judges that an abnormality has occurred in either the control vibration source or the residual vibration detecting means, the control vibration detecting signal detected by the control vibration detecting means determines that it is normal. If they are the same, it is determined that no abnormality has occurred in the control vibration source, and therefore, it can be determined that the abnormality has occurred in the residual vibration detecting means. Conversely, when the abnormality determination means determines that an abnormality has occurred in any of the control vibration source and the residual vibration detection means,
If the control vibration detection signal detected by the control vibration detection means is significantly different from that in the normal state, it can be determined that the abnormality has occurred in the control vibration source.

Therefore, when the abnormality judging means judges that an abnormality has occurred in either the control vibration source or the residual vibration detecting means, the abnormal part judging means makes a decision based on the control vibration detection signal. It is possible to determine whether the abnormality has occurred in the control vibration source or the residual vibration detection means.

When the control vibration detection signal is less than a predetermined threshold value, the control vibration detection signal is significantly different from that in the normal state. Therefore, it can be determined that the abnormality occurrence site is a control vibration source, or
When the control vibration detection signal is equal to or greater than a predetermined threshold value as in the invention according to the invention, the control vibration detection signal is the same as in the normal state, and accordingly, the abnormality occurrence part is the residual vibration detection means. You can judge.

Further, in the invention according to claim 5, when a plurality of sets of the control vibration source and the residual vibration detecting means are provided, another group is constituted from the viewpoint of one set of the control vibration source and the residual vibration detecting means. It is noted that the residual vibration detecting means can be used as the control vibration detecting means, and vice versa. In the case of the invention according to claim 5, a new control vibration detecting means is provided. You don't have to.

According to a sixth aspect of the present invention, the transfer function between the control vibration source and the residual vibration detecting means includes a drive signal for driving the control vibration source and a residual vibration signal detected by the residual vibration detecting means. Although it is possible to identify based on the above, attention is paid to the fact that many parts of such transfer function identification processing are duplicated with the processing required for abnormality determination means. According to such an invention, the processing in the abnormality determining means can be simplified.

Although the inventions according to claims 7 to 12 have a difference between vibration and sound, they are substantially the same as the inventions according to claims 1 to 6, so that substantially the same operation can be obtained. . However, the invention according to claim 11 is based on the premise that a plurality of residual noise detection means are provided. If the invention according to claim 11 operates as a residual noise detection means in normal noise reduction control, for example, One of the microphones is used as control sound detection means when performing the abnormal part determination process, so that it is not necessary to newly provide a control sound detection means.

[0030]

According to the present invention, since the abnormality judging means and the abnormal part judging means are provided, it is possible to judge whether or not an abnormality has occurred. Since it is possible to judge with high probability which of the vibration detection means and the residual noise detection means has occurred, there is an effect that useful information can be given to perform appropriate measures.

In particular, according to the fifth and eleventh aspects of the present invention, there is no need to newly provide a control vibration detecting means or a control sound detecting means, which is advantageous in terms of cost and space. .

The invention according to claims 6 and 12 also has the advantage that overall processing becomes efficient.

[0033]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 3 are views showing a configuration of an embodiment of the present invention. FIG. 1 is a schematic side view of a vehicle to which an active vibration control device according to the present invention is applied, and FIG. It is a schematic plan view of an engine room.

First, the configuration will be described. A power unit 30 including a horizontal engine 30A and the like is configured as follows.
At a total of four positions, two positions at the front and rear ends of the vehicle and two positions at the left and right ends, it is supported by the vehicle body 35 composed of a suspension member and the like. That is, active engine mounts 1F and 1R capable of generating an active supporting force in accordance with the drive signal are interposed between the two positions at the front and rear ends of the power unit 30 and the vehicle body 35. Engine mounts 50L and 50R that generate a passive supporting force according to the relative displacement between the power unit 30 and the vehicle body 35 are interposed between the two positions at the left and right ends and the vehicle body 35. Engine mount 50
As L and 50R, for example, a normal engine mount that supports a load with a rubber-like elastic body, a known fluid-filled mount insulator in which a fluid is sealed inside a rubber-like elastic body so as to generate a damping force, and the like. Can be applied.

On the other hand, active engine mounts 1F, 1R
Is configured, for example, as shown in FIG. That is, the active engine mounts 1F, 1 according to the present embodiment.
R has a cap 2 integrally provided with a bolt 2a for attachment to the power unit 30 at the upper part and having a hollow inside and an open lower part. The upper end of 3 is caulked.

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. The orifice structure 5 is formed in a substantially cylindrical shape so as to match the internal space of the inner cylinder 3.
A circular recess 5a is formed on the upper surface. 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 constituting body 5, a flow path for connecting one end of the groove to the concave portion 5a, and the other end of the groove for communication with the opening 3a. Channel.

On the other hand, on the outer peripheral surface of the inner cylinder 3, an 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 two are integrated. The peripheral portion (end portion) of the circular metal leaf spring 11 is sandwiched in the swaging-stopping portion. A magnetic path member 12 that can be magnetized is fixed by a rivet 11a to the center of the leaf spring 11 on the side of the electromagnetic actuator 10. 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 caulking prevention portion.
And are supported. Specifically, on the flange portion 8A of the actuator case 8, the thin film elastic body 13, the flange portion 14a of the force transmitting member 14, and the leaf spring 11 are overlapped in this order, and the whole of the overlapped outer cylinder is formed. 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 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 support elastic member 6
A fluid chamber 15 is formed at 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 at 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 oil 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 are such that when the engine shake occurs during running, that is, when the active engine mounts 1F and 1R are excited at 5 to 15 Hz, the high dynamic spring It is adjusted to show constant and high damping force.

The exciting coil 10B of the electromagnetic actuator 10 generates a predetermined electromagnetic force according to the drive signals y _F and y _R which are currents supplied from the controller 25 through the harness 23a. The controller 25 includes a microcomputer, a necessary interface circuit, an A / D converter, a D / A converter, an amplifier, and the like. When the idle vibration and the muffled sound vibration / acceleration which are higher in frequency than the engine shake are performed. Vibration is body 3
5, the drive signals y _F , y _R for each of the active engine mounts 1F, 1R are generated such that an active supporting force capable of reducing the vibration is generated in the active engine mounts 1F, 1R. 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,
Since the engine vibration of the following component is the main cause to be transmitted to the vehicle body 35, a drive signal y _F in synchronism with the engine rotational secondary component, if the generated output y _R, can be the vehicle body side reduces Becomes Therefore, in the present embodiment, a pulse signal output as an impulse signal P synchronized with the rotation of the crankshaft of the power unit 30 (for example, in the case of a reciprocating four-cylinder engine, one for every 180 ° rotation of the crankshaft) A generator 26 is provided, and the impulse signal P is supplied to the controller 25 as a signal indicating the state of generation of vibration in the power unit 30.

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 is provided as a vehicle body vibration detecting means for detecting an exciting force transmitted from the power unit 30 through the supporting elastic body 6, and a detection result of the load sensor 22 is used as a residual vibration signal e _F , e _R as a harness 23b. Through the controller 25. Specifically, the load sensor 22 includes a piezoelectric element, a magnetostrictive element,
A strain gauge or the like is applicable.

Then, the controller 25 executes the synchronous filtered-X LMS algorithm based on the supplied residual vibration signals e _F and e _R and the impulse signal P to thereby obtain the active engine mount 1F,
Calculates a drive signal y _F and y _R against 1R, their driving signals y _F and y _R each active engine mount 1F,
1R.

[0050] Specifically, the controller 25, the filter coefficients _{W Fi, W Ri (i =} 0,1,2, ..., I-1: I is the number of taps) adaptive digital filter W _F of the variable, the W _R a have, at a predetermined sampling clock intervals from the time the latest impulse signal P is input, the adaptive digital filter W _F, W _R of the filter coefficients W _Fi, W
Driving signals _Ri sequentially y _F, while output as y _R, impulse signal P and the residual vibration signal e _F, e based on _R adaptive digital filter W _F, W _R of the filter coefficients W _Fi, appropriately updates the W _Ri Is performed.

The update equation of the adaptive digital filter W _F, W _R is, Filtered-X LMS algorithm according the following equation (1), so that equation (2). _{W Fi (n + 1) =} W Fi (n) -μR F T e F (n) ...... (1) W Ri (n + 1) = W Ri (n) -μR R T e R (n) ...... (2) Here, terms with (n) and (n + 1) represent values at sampling times n and n + 1, and μ is a convergence coefficient. R _F ^T and R _R ^T are transfer function filters that theoretically model the transfer functions C _F and C _R between the electromagnetic actuator 10 and the load sensor 22 of the active engine mounts 1F and 1R. C _F ＾,
C _R }, but since the magnitude of the impulse signal P is “1”, the transfer function filter C _F
When the impulse responses of {, C _R } are generated one after another in synchronization with the impulse signal P, they coincide with the sum of the impulse response waveforms at the sampling time n.

[0052] Also, in theory, an impulse signal P of the adaptive digital filter W _F, signal filtered by W _R is, although become a drive signal to the electromagnetic actuator 10, the magnitude of the impulse signal P is " Since it is 1 ", even if the filter coefficients W _Fi and W _Ri are used as they are as drive signals, the same result as when the filter processing result is used as drive signals is obtained.

Further, the controller 25 executes the vibration reduction processing using the adaptive digital filters W _F and W _R , while transferring the transfer functions C _F and C necessary for the vibration reduction control.
A process for identifying _R is also executed.

That is, the transfer function C
An identification processing start switch 28 is provided which is operated at the timing when the identification processing of _F and C _R is started. For example, in the last step of the production line or at the time of regular inspection by a dealer, the operator can set the identification processing start switch. When the controller 28 is operated, the identification processing of the transfer functions C _F and C _R is executed in the controller 25. Incidentally, the transfer function C _F, during the identification process execution of C _R, the vibration reduction processing is not normally executed.

That is, the controller 25 executes the vibration reduction processing according to the synchronized Filtered-X LMS algorithm when the vehicle is running normally with the ignition turned on.
When the operator 8 is operated, the vibration reduction processing is stopped, and instead, the identification processing of the transfer functions C _F and C _R is executed.

[0056] In the present embodiment, the transfer function C _F, the process of identifying the C _R, they transfer function C _F, are adapted to be sequentially performed for each C _R, also sinusoidal identification signals It is designed to be performed using.

For example, in the process of identifying the transfer function C _F , a sinusoidal identification signal is continuously output to the active engine mount 1F instead of the drive signal y _{F for} a predetermined time, and the residual vibration signal e _F is read. The data reading process is repeatedly performed while sequentially changing the frequency of the identification signal, and each sequence of the residual vibration signal e _F obtained by each data reading process is subjected to FFT processing to extract a component corresponding to the frequency of the identification signal. , the result of combining the respective frequency components extracted, and inverse FFT process, and obtains the impulse response as the transfer function C _F. The obtained impulse response is adapted to replace it to the transfer function filter C _F ^ as a finite impulse response type of transfer function filter C _F ^. Identification processing of the transfer function C _R is the same.

[0058] Furthermore, controller 25, the transfer function C _F, when performing identification processing of the C _R, even so it is determined whether or not the active engine mounts 1F, abnormal 1R has occurred ing. For example, the transfer function C _F
When performing the identification process, for outputting an identification signal of the sine wave of a predetermined frequency as the drive signal y _F, the residual vibration signal e _F is the amplitude and phase of the drive signal y _F, the gain characteristic of the transfer function C _F And a sinusoidal signal converted according to the phase characteristics. However, if the abnormality occurs in the active engine mount 1F, the residual vibration signal e _F that is captured during the identification process execution of the transfer function C _F is, for example, or become very small amplitude sinusoidal signal,
Or, it becomes a signal like white noise.
Therefore, in the present embodiment, a predetermined threshold value e _th1 is set in advance, and the amplitude of the residual vibration signal e _F taken in at the time of executing the transfer function C _F identification processing is determined by the threshold value e _th1.
In the case of above, active engine mount 1F is determined to be normal, conversely, when the amplitude of the residual vibration signal e _F is less than the threshold value e _th1 is active engine mounts 1F
It is determined that an abnormality has occurred. This determination is the same for the active engine mount 1R.

When the controller 25 determines that an abnormality has occurred in the active engine mounts 1F and 1R, the controller 25 determines whether the abnormality causes a control vibration including the electromagnetic actuator 10, or , It is determined whether or not it is configured to detect residual vibration including the load sensor 22. For example, if the abnormality in the active engine mount 1F is determined to have occurred, the controller 25 outputs a drive signal y _F of the identification signal to the electromagnetic actuator 10 of the active engine mount 1F in a state in which there is adapted to read the residual vibration signal e _R which is the output of the load sensor 22 provided on the other of the active engine mount 1R side. Then, the controller 25 adjusts the amplitude of the read residual vibration signal e _R to a predetermined threshold value e _th2.
In the above case, it is determined that the abnormality of the active engine mount 1F has occurred in the load sensor 22, and conversely, if the amplitude of the residual vibration signal e _R is less than the threshold value e _th2 , It is determined that the abnormality of the engine mount 1F has occurred in the electromagnetic actuator 10, the magnetic path member 12, and the like. The processing for specifying the abnormality occurrence site is similarly executed for the active engine mount 1R.

Next, the operation of this embodiment will be described. That is, when an engine shake occurs, the flow path shape of the orifice 5b and the like are appropriately selected. As a result, the active engine mounts 1F and 1R function as supporting devices having a high dynamic spring constant and a high damping force. The generated engine shake is active type engine mount 1F, 1R
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 5b is in a stick state and a vibration 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 input, the controller An active engine 25 executes predetermined arithmetic processing, outputs drive signals y _F , y _R to the exciting coil 10B of the electromagnetic actuator 10, and provides active engine mounts 1F, 1R with which active body mounts 1F, 1R can reduce vibration on the vehicle body 35 side. Generate a strong support force.

Here, the active engine mount 1
Considering F, 1R by a dynamic model, power unit 3
The support spring of the support elastic body 6 and the extension spring intervene in parallel between the body 0 and the vehicle body 35, and the electromagnetic force of the electromagnetic actuator 10 is applied to the extension spring via the leaf spring 11 and the fluid in the fluid chamber 15. It is designed to communicate. More specifically,
The magnetic path member 12 is displaced to a predetermined offset position by the magnetic force of the permanent magnet 10C, and the electromagnetic force generated by the exciting coil 10B acts to increase or decrease the magnetic force of the permanent magnet 10C. The supported magnetic path member 12 is displaced in both positive and negative directions according to the frequency and amplitude of the drive signal y around the offset position. Then, the volume of the fluid chamber 15 fluctuates in both positive and negative directions, and the volume fluctuation acts on the expansion spring of the support elastic body 6 to generate an active control force between the inner cylinder 3 and the outer cylinder 7.

Then, the active engine mounts 1F, 1
Drive signal y _F for R, y _R, the adaptive digital filter W _F, W _R of the filter coefficients W _Fi, a W _Ri, adaptive digital filter W _F, W _R is the load applied active engine mount 1F, the 1R The residual vibration signal e _F ,
Since the updating is performed according to the above equation (1) or (2) based on e _R , the filter coefficients W _Fi and W _Ri converge to the optimum values after a certain period of time has elapsed since the start of the control. If it is close enough to the optimal value, the power unit 30
Vibration transmitted from the vehicle side to the vehicle body 35 through the active engine mounts 1F and 1R is canceled by the active support force generated by the active engine mounts 1F and 1R, and the active engine mounts 1F and 1R are canceled.
The vibration level on the vehicle body 35 side near the R arrangement position is reduced.

The above is the operation of the vibration reduction processing executed when the vehicle is running. On the other hand, for example, when the operator operates the identification processing start switch 28 in the final step of the production line before the vehicle is shipped or during the periodic inspection, the identification processing of the transfer function as shown in FIG. 4 is executed. . In practice, when the identification process start switch 28 is operated, the identification processes of the transfer functions C _F and C _R are performed in order, but since both are substantially the same process, the following description will be made. Performs only the process of identifying the transfer function C _F , and the description of the process of identifying the transfer function C _R is omitted.

That is, when the process of identifying the transfer function C _F is started, first, in step 101, the frequency f ₀ of the identification signal is changed to the frequency band (f _{min to} f _max )
Set to the minimum value f _min (for example, 10 Hz).

Then, the process proceeds to a step 102, wherein a sine wave having a frequency f ₀ is supplied to the active engine mount 1F as an identification signal. Then, the active engine mount 1
The electromagnetic actuator 10 in the F is driven by the identification signal to generate the identified vibration, and the identified vibration propagates through each member, and the load sensor 22 in the active engine mount 1F.
Reach Further, the identified vibration generated on the active engine mount 1F side reaches the load sensor 22 in the other active engine mount 1R via the vehicle body 35.

Then, the routine proceeds to step 103, where the residual vibration signals e _F and e _R are read. Here, the residual vibration signal e _F
Is mainly used to identify the transfer function C _F , but the residual vibration signal e _R is read in order to identify the abnormality occurrence part in the abnormal part determination processing described later.

[0068] Then, the process proceeds to step 104, determines whether read or I a residual vibration signal e _F sufficient number. The value set as a sufficient number of the residual vibration signals e _F is determined by the time required for the impulse response to sufficiently attenuate by the sampling clock since the transfer function C _F is obtained as an impulse response. It is sufficient if it is equal to or greater than the divided value. However, since the FFT operation is performed later on the residual vibration signal e _F captured as a time series,
It is desirable that the number of the captured residual vibration signals e _{F be} a power of two. If a very large amount of the residual vibration signals e _F are read, the reading time becomes long, and the FFT operation is required. Due to the disadvantage that the time becomes longer, the value set as a sufficient number of the residual vibration signals e _F exceeds the number obtained by dividing the time required for the impulse response to sufficiently decay by the sampling clock. It is desirable to set the minimum value among the powers of two. For example, when the sampling clock is 2 msec and the time for the impulse response to sufficiently attenuate is 0.2 sec.
If c, then 0.2 sec / 2 msec = 100, so
The value set in step 104 is 128.

If the determination in step 104 is "NO", the flow returns to step 102 to repeat the output processing of the identification signal (step 102) and the reading processing of the residual vibration signals e _F and e _R (step 103). Execute.

The determination in step 104 is "YE
If "S" is reached, the process proceeds to step 105. It should be noted that the residual vibration signal e _F , read one after another in step 103,
e _R is stored as time-series data corresponding to the frequency f ₀ .

In step 105, it is determined whether or not an abnormality has occurred in the active engine mount 1F. If an abnormality has occurred, whether the abnormality has occurred is in the electromagnetic actuator 10 or in the load sensor. An abnormality detection process is performed to identify whether the abnormality exists in the abnormality detection unit 22. If an abnormality is detected in the abnormality detection process, the fact that the abnormality is detected and the abnormality occurrence part are determined by the operator. Then, the transfer function identification process is interrupted. However, if no abnormality is detected in step 105, the process returns to the process in FIG. 4 and the processes in and after step 106 are sequentially executed.

The details of the processing in step 105 will be described later in detail. Here, the operation in the case where the processing in step 106 and subsequent steps has been executed on the assumption that no abnormality has been detected in step 105 will be described.

In step 106, a new frequency f ₀ is calculated by adding the increment Δf to the current frequency f ₀ , and then the process proceeds to step 107, where the new frequency f ₀ is set to the frequency for performing the identification process. Is determined to exceed the maximum value f _max (for example, 150 Hz).

If the determination in step 107 is "NO", the flow returns to step 102 to execute the above-mentioned processing again. Therefore, a series of processes in steps 102 to 106 is executed until the determination in step 107 becomes “YES”.

That is, the processing of steps 102 and 103 is performed by increasing the value Δf in the range from the minimum value f _min to the maximum value f _max.
(For example, 10 Hz), the processing is executed at each frequency f _0, and when the processing of step 107 becomes “YES”, the residual stored as time-series data by the processing of step 103 Vibration signal e _F
Are stored in the same number as the types of the frequency f ₀ .

Therefore, the determination in step 107 is "YE
S ”, the process proceeds to step 108, where the frequency f ₀
An FFT operation is performed on each of the time-series data of the residual vibration signal e _F stored for each time, and a frequency component of each time-series data is extracted.

However, since what is needed here is not all frequency components for each time series data, only components corresponding to the frequency of the original sine wave determined by the corresponding frequency f ₀ . Rather than performing a strict FFT operation on the time series, only an operation sufficient to obtain the component of the frequency f ₀ corresponding to each time series may be performed.

Next, the process proceeds to step 109, in which the result of combining the respective frequency components is subjected to an inverse FFT operation and converted into an impulse response on the time axis. As the transfer function filter C _F }. After transfer function filter C _F ^ storage is complete, it ends the process of identifying the current transfer function C _F. Then, following the processing of FIG.
Executes identification processing of the transfer function C _R is similar to the processing contents.

As described above, according to the present embodiment, the vehicle
Transfer function C at any timing after being mounted on_F, C
_RAnd the identified transfer function C_F, C_RTransmitted by
Function filter C_F＾, C_R＾ is to be replaced
Therefore, the transfer function C obtained in the laboratory_F, C_RTo all vehicles
Compared to the case of applying, the transfer function filter C with higher accuracy _F
＾, C_R＾ will be used for vibration reduction control,
Transfer function C for each periodic inspection_F, C_RIf you identify the
Can it respond to changes in the vibration transmission system due to changes over time?
Thus, good vibration reduction control can be performed.

On the other hand, when the abnormality detection processing of step 105 in FIG. 4 is started, first, as shown in FIG.
01 proceeds to, from time-series data of the residual vibration signal e _F stored as the current frequency f _0, searches the amplitude (maximum value) of the residual vibration signal e _F, store it as an amplitude A _F I do.

Next, the routine proceeds to step 202, where the amplitude A
_F and the threshold value e _th1, and the amplitude A _F
In case of _th1 or more, especially active engine mount 1F
It is determined that no abnormality has been detected, and the process of FIG. 5 is terminated, and the process proceeds to step 106 of FIG.

On the other hand, in step 202, the amplitude A _F
Is smaller than the threshold value e _th1, it is determined that an abnormality has occurred in the active engine mount 1F, and the routine proceeds to step 203. Here, threshold e
_th1 is the amplitude of the residual vibration signal e _F incorporated when it is normal and outputs the drive signal y _F to secure the active engine mounts 1F, active engine mount 1F
This is a threshold for distinguishing the amplitude of the residual vibration signal e _F that is taken in when the drive signal y _F is output in a state in which the electromagnetic actuator 10 or the load sensor 22 intentionally fails. And appropriately selected.

[0083] When the process proceeds from step 202 to step 203, in turn, from the time series data of the residual vibration signal e _R stored as the current frequency f _0, and find the amplitude of the residual vibration signal e _F, it stored as an amplitude A _R.

Then, the flow shifts to step 204, where the amplitude A
_R and the threshold value e _th2 are compared, and the amplitude A _R
In the case of _th2 or more, it is determined that the load sensor 22 of the active engine mount 1F has a disconnection abnormality or the like, and the process proceeds to step 205 to display the fact and allow the operator to recognize it. On the other hand, if the amplitude A _R is less than the threshold value e _th2 , it is determined that the electromagnetic actuator 10 of the active engine mount 1F has a disconnection abnormality or the like, and the process proceeds to step 206 to that effect. Display and let the operator know. Here, the threshold value e _th2, when it outputs a drive signal y _F to secure active engine mount 1F electromagnetic actuator 10 operates normally, the load sensor of the other active engine mount 1R Output Of the residual vibration signal e _R and the active engine mount 1F
A threshold for distinguishing between the amplitude of the residual vibration signal e _R incorporated when outputting the drive signal y _F in a state that deliberately caused the fault to the electromagnetic actuator 10, the threshold e _th1 Similarly, it is appropriately selected by conducting experiments and the like.

After the processing of step 205 or 206 is completed, the process of identifying the transfer functions C _F and C _R is interrupted without returning to the process of FIG. In such a case, the operator performs wiring confirmation, component replacement, repair, and the like based on the recognized occurrence of the abnormality and the location of the abnormality.

As described above, according to the present embodiment, it is determined whether or not an abnormality has occurred in the active engine mounts 1F, 1R, and if it is determined that an abnormality has occurred, the abnormality occurrence site is determined. Since it is possible to distinguish between the electromagnetic actuator 10 and the load sensor 22, it is extremely convenient for the operator to take appropriate measures.

Further, since the abnormality determination process can be a simple comparison process as shown in FIG. 5, the calculation load of the controller 25 does not increase significantly. And
Because the output of the load sensor 22 provided in the other active engine mounts 1F and 1R is used as a signal used to determine which of the electromagnetic actuator 10 and the load sensor 22 has an abnormality. There is an advantage that it is not necessary to provide a new acceleration sensor or the like in order to obtain such a signal.

Further, since the abnormality determination processing is executed simultaneously with the execution of the identification processing of the transfer functions C _F and C _R shown in FIG. 4, the processing for outputting the identification signal and the residual vibration signal are taken in. There is also an advantage that the processing can be shared.

Here, in the above embodiment, the power unit 30 corresponds to the vibration source and the active engine mount 1
F, 1R except for the load sensor 22 corresponds to the control vibration source, the pulse signal generator 26 corresponds to the reference signal generation means, the load sensor 22 corresponds to the residual vibration detection means, and the synchronous The X LMS algorithm corresponds to the control algorithm, and the process of generating and outputting the drive signals y _F and y _R in the controller 25 corresponds to the active control means. The active engine mount 1F is the other active engine mount. Load sensor 2 in 1R
2 corresponds to the control vibration detecting means, the load sensor 22 in the other active engine mount 1F corresponds to the control vibration detecting means for the active engine mount 1R, and the processing of steps 201 and 202 in FIG. The processing in steps 203 and 204 corresponds to the abnormal part determining means, and corresponds to steps 101 to 104 and 106 to 1 in FIG.
Step 10 corresponds to a transfer function identification unit.

In the above-described embodiment, the load sensor 22 is used as the control vibration detecting means by using the configuration having a plurality of active engine mounts 1F and 1R. However, the present invention is not limited to this. Instead, for example, another vibration detecting sensor (acceleration sensor) for detecting the vibration of the vehicle body 35 may be provided, and the sensor may be used as the control vibration detecting means.

In the above embodiment, the threshold value e
_th1 and threshold e _th2 are set in advance, and threshold e
_th1 and the waveform of the amplitude A _F equal comparing the residual vibration signal e _F is so as to determine whether or not the normal, is not limited thereto, for example, residual it may be determined based on the sum of the square value of the AC component of the vibration signal e _F.

Further, in the above-described embodiment, the present invention has been described as an active vibration control device for a vehicle for reducing the vibration transmitted from the power unit 30 to the vehicle body 35. However, the present invention is not limited to this. 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 cabin and a microphone as a residual noise detecting means for detecting residual noise in the vehicle cabin 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, by using the update processing of the filter coefficient W _i of the adaptive digital filter W output of the microphone as the residual noise signal e Good. Then, a plurality of microphones are provided to provide a multiple error filter.
While the d-X LMS algorithm can be executed, when performing the abnormality detection processing on the loudspeaker and one microphone, another one microphone may be used as the control sound detecting means.

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 power unit 30. The present invention can be applied to an active vibration control device and an active noise control device for reducing aperiodic vibration and noise (random noise). Equivalent effects can be obtained. For example, the present invention is applicable to a device or the like that reduces vibration and noise transmitted from a machine tool to a floor or a room.

Further, in each of the above embodiments, the case where the synchronized 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 an overall configuration of an embodiment of the present invention.

FIG. 2 is a schematic plan view of an engine room.

FIG. 3 is a sectional view showing an example of an active engine mount.

FIG. 4 is a flowchart illustrating an outline of a transfer function identification process.

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

[Explanation of symbols]

1F, 1R Active engine mount 10 Electromagnetic actuator 22 Load sensor (residual vibration detecting means) 25 Controller (active control means) 26 Pulse signal generator (reference signal generating means) 30 Power unit (vibration source)

Claims (12)

[Claims] 1. A control vibration source capable of generating a control vibration that interferes with a vibration emitted from a vibration source, a reference signal generating means for generating and outputting a reference signal indicating a state of generation of the vibration,
A residual vibration detection unit that detects the vibration after the interference and outputs the vibration as a residual vibration signal, and the control vibration source so that the vibration after the interference is reduced according to a predetermined control algorithm based on the reference signal and the residual vibration signal. An active vibration control device comprising: an active control device for driving; and a control vibration detection device for detecting the control vibration emitted from the control vibration source separately from the residual vibration detection device and outputting the control vibration as a control vibration detection signal. And abnormality determining means for determining whether or not an abnormality has occurred in any of the control vibration source and the residual vibration detection means, based on the residual vibration signal when driving the control vibration source. If the abnormality determination means determines that an abnormality has occurred,
An abnormal portion determining unit configured to determine whether an abnormality has occurred based on the control vibration detection signal, the control vibration source or the residual vibration detection unit. Active vibration control device. 2. The apparatus according to claim 1, wherein the abnormality determining means determines that an abnormality has occurred in either the control vibration source or the residual vibration detecting means when the residual vibration signal is less than a predetermined threshold value. 2. The active vibration control device according to claim 1, wherein: 3. The abnormal portion judging means judges that an abnormality has occurred in the control vibration source when the control vibration detection signal is less than a predetermined threshold value. The active vibration control device according to claim 1 or 2. 4. The abnormal portion judging means judges that an abnormality has occurred in the residual vibration detecting means when the control vibration detection signal is equal to or more than a predetermined threshold value. The active vibration control device according to any one of claims 1 to 3. 5. A control apparatus comprising a plurality of sets of said control vibration source and said residual vibration detecting means, wherein said abnormal part determining means determines an abnormal part of one set of said control vibration source and said residual vibration detecting means. 5. The active vibration control device according to claim 1, wherein another set of said residual vibration detecting means is used as said control vibration detecting means. 6. A transfer function identification unit for identifying a transfer function between the control vibration source and the residual vibration detection unit, wherein the abnormality determination unit executes the transfer function identification unit to execute the transfer function identification processing. The active vibration control device according to any one of claims 1 to 5, wherein the determination is made when the operation is being performed. 7. A control sound source capable of generating a control sound that interferes with noise emitted from a noise source, reference signal generation means for generating and outputting a reference signal indicating a state of generation of the noise, Residual noise detection means for detecting and outputting as a residual noise signal, active control means for driving the control sound source so as to reduce the noise after the interference according to a predetermined control algorithm based on the reference signal and the residual noise signal, An active noise control device comprising: a control sound detection unit that detects the control sound emitted from the control sound source and outputs the control sound as a control sound detection signal separately from the residual noise detection unit; An abnormality judgment for judging whether an abnormality has occurred in any of the control sound source and the residual noise detecting means based on the residual noise signal at the time of driving. When the means, the abnormality determination means determines that an abnormality has occurred,
Abnormal part determining means for determining which of the control sound source and the residual noise detecting means an abnormality has occurred based on the control sound detection signal. Type noise control device. 8. The abnormality determining means determines that an abnormality has occurred in one of the control sound source and the residual noise detecting means when the residual noise signal is less than a predetermined threshold value. The active noise control device according to claim 7, wherein 9. The abnormal part judging means judges that an abnormality has occurred in the control sound source when the control sound detection signal is less than a predetermined threshold value. Or an active noise control device according to claim 8. 10. The abnormal part judging means judges that an abnormality has occurred in the residual noise detecting means when the control sound detection signal is equal to or more than a predetermined threshold value. The active noise control device according to any one of claims 7 to 9. 11. The apparatus according to claim 7, further comprising a plurality of said residual noise detecting means, wherein said abnormal part determining means uses one of said residual noise detecting means as said control sound detecting means. The active noise control device according to claim 10. 12. A transfer function identification unit for identifying a transfer function between the control sound source and the residual noise detection unit, wherein the abnormality determination unit executes the transfer function identification unit to execute the transfer function identification processing. The active noise control device according to any one of claims 7 to 11, wherein the determination is made when the active noise control is performed.