KR101431371B1 - Method and Apparatus for realizing a Generalized Electrical Dynamic Absorber - Google Patents

Abstract

The present invention is to actively reduce waves such as vibration and sound using feedback control. More specifically, the present invention is to provide a general type of electromagnetic attenuator that implements a mechanical dynamic attenuator operating mechanism electrically and electronically for vibration or sound control of a control system having a non-minimum phase characteristic.
According to the present invention, there is provided a method of controlling a tuning mode, comprising: inputting an electric signal from a sensing unit; modulating a mode signal to extract at least one mode signal from the input signal; A phase compensating step of compensating for phase by adjusting the phase of the output signal, and an output step of outputting the result to a unit having a total sum of output signals through the step for each mode, wherein the method and apparatus for realizing the general automatic attenuator using the feedback control to provide.
According to the present invention, in a general vibration and acoustic physical system having a plurality of modes and non-minimum phase characteristics, one or more modes of vibration or acoustic waves can be actively reduced using a feedback control method.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a generalized electromagnetic dynamic absorber,

The present invention relates to a method and apparatus for actively reducing resonance and resonance of waves such as vibration and sound using feedback control, and more particularly, to a method and apparatus for reducing vibration or sound of a general vibration and sound control system having non- To a general type of electromagnetic attenuator for control.

Active control is known to be effective for low-frequency vibration and sound reduction below about 500 Hz, which is difficult to reduce by passive methods such as vibration damping materials and sound absorbing materials. This is a method in which existing waves formed by disturbance are additionally canceled by destructive interference or actively absorbing energy using an introduced vibration source and an acoustic source. Therefore, in order to construct a control device, a sensing unit including a sensor and a corresponding device such as a signal conditioner and a pre-amplifier, an actuator, An oscillator including a signal amplifier having an adder, and a controller including a controller are additionally required.

The active control methods of vibration and sound are classified into feedforward control, modern feedback control, and classical feedback control. In the case of physics where disturbance is unpredictable and uncertainty is large, classical feedback control methods are known to be particularly practical. Examples of successful commercialization include active acoustic control headphones based on Bose's patent (US4455675, 1984) and active mounts for vibration isolation based on Karnopp et al. (1974). In both cases, the physics to be controlled is very simple, the headphone is an acoustic space for the ear, and the active mount is a mount for supporting a rigid body. The controller is also referred to as an electrical damper because it can be referred to as a gain adjuster based on a very simple proportional control. An electronic damper is a device that implements a mechanical damper operation mechanism and its effect electronically through feedback control, and the gain adjuster acts as a controller.

The electronic damper is useful only when the plant has a minimum phase characteristic as a control target system having a vibrator input and an amplifier output as in the above example. In order to satisfy this condition, it is desirable to have a collision control (the oscillator and the detector are at the same point), and a delayless control environment in which there is no time delay of the signal in the electric and electronic devices in the feedback circuit. In the strict sense, it is difficult to satisfy the minimum phase condition for all the frequencies. Therefore, if the control bandwidth is satisfied, that is, the band-limited minimum phase system, it is possible to use an electronic damper I can do it. For stable high performance control, the plant sensitivity in the control frequency range should be relatively higher than in the non-control frequency range. Otherwise, the gain of the gain adjuster is limited and the control performance is not high.

In this paper, we propose an effective vibration and sound control system for complex physical systems that exist in everyday life, such as continuous vibration system with infinite mode, acoustic system with huge space, and each mode signal between exciter and detector have different transmission time difference and phase difference. A more advanced method is required. Of the many attempts made for this purpose, the following two techniques are noted: electrical dynamic absorber and delayed feedback control.

Like an electronic damper, a fully automatic attenuator uses a partial minimum phase-difference system as a control target, but it is a technique that can greatly enhance control performance and robustness than an electronic damper. This technology is a technology that actively reduces the resonance and resonance by implementing the mechanism of the mechanical dynamic damper which is well known in the art by using the feedback control. Recently implemented experimentally. Here, the dynamic damper is a term that encompasses dynamic damper (dynamic sound absorber), dynamic damper, dynamic damper, vibration damper, electromagnetic absorber, and acoustic damper. As the controller, a mode tuner and a gain controller of a second filter type are used. The mode tuner can be called a modal filter because it plays a role of extracting only a specific mode signal. The gain adjuster represents the feedback gain of the extraction mode and adjusts the damping effect. In order to control a plurality of modes, a plurality of fully automatic damper is used to constitute a controller. Compared to an electronic damper, which is a broadband controller, the automatic attenuator is a narrow band controller. Thus, compared to an electronic damper, selective control of the mode is possible, such as discrete and simultaneous control of multiple modes, and the controller is able to operate more robustly against uncertainties outside the control frequency range, thereby improving control performance.

The time delay control is proposed by Yang et al. In the 1990s to reduce the original vibration through the proportional control of the feedback with artificial additional time delay in the vibration system driven by the sinusoidal wave with time delay. Here, the artificial proportional control is performed by the gain adjuster, and the time delay serves as a phase compensator. When the time delay in the controlled plant is compensated correctly, the gain regulator actively dissipates the wave energy of the corresponding frequency like an electronic damper, and as a result, this technique can be applied to a general type electron It may be referred to as a generalized electrical damper. This technique is significant because it is an uncommon control method in which a non-minimum phase physical system, whose application range is limited but is difficult to control, is applied. Many researchers, including Udwadia et al. (2008), have attempted to control non-collocated multi-degree-of-freedom vibration systems, but most of them have been successful in theoretical analysis. This is because the electronic damper and the general type electromagnetic damper are both broadband controllers, and thus have a fundamental limitation that individual mode-dependent control (that is, narrow-band control) is impossible. In other words, in the non-minimum phase plant, the magnitude and phase of each mode are different, and it is impossible to adjust and compensate individually the magnitude and phase of the plurality of modes differing by the single wide-band gain adjuster and the single wide-band phase compensator.

The non-minimum phase difference system is a system in which the plant characteristic is not the minimum phase system even within the control frequency range and is a phase distortion system from the minimum phase. If the plant is a non-minimum phase system, there are actually a myriad of them, including non-collocated control. The exciter and detector are intended to be located at different points in terms of design or control efficiency. For example, in a hard disk drive, the operating motor is located at the hub, but the vibration reduction position is the actuator endpoint. Also, the speaker is mounted on the wall of the passenger compartment, but the location of the sound reduction is mainly near the passenger's ear. Moreover, the actual exciter or detector operation is not ideal, and the correlators and amplifiers of various signals in the feedback circuit and the controller are accompanied by a significant amount of time delay.

The single or multiple mode control of a general vibration and acoustical physics system with multiple modes (ie, macroscopic) and non-minimum phase (ie, differential or time delay control system) And still remains a challenge. In this case, as described above, the automatic attenuator and the time delay control can not be simply applied, and a new invention overcoming the disadvantages is required. The present invention relates to a new application field of active control technology, such as a non-minimum phase-controlled system dominated by a plurality of modes, through an invention applying a fully automatic damper and a general electronic damper technique in a narrow sense, It is for exploitation.

US 4455675 B2

D Karnopp, MJ Crosby and RA Harwood, Vibration control using semi-active force generators, ASME Transactions Journal of Engineering Industry, 96, pp. 619-26 (1974) B. Yang and C. D. Mote, Jr., On time delay in noncollocated control of flexible mechanical systems, J. Dyn. Sys., Meas., Control - Trans. ASME, 114, pp. 409-415, (1992) F. E. Udwadia, H. F. von Bremen, R. Kumar and M. Hosseini, Time delayed control of structural systems, Earthquake Engng Struct. Dyn., Vol. 32, pp. 495-535, (2003) S M Kim, S Pietrzko and MJ Brennan, Active vibration isolation using an electrical damper or an electrical dynamic absorber, IEEE Transactions on Control Systems technology, 16 (2), pp. 245-254, (2008) S. M. Kim, S. Wang and M. J. Brennan, Comparison of Negative and Positive Position Feedback Control of a Flexible Structure, Smart Mater. Struct., Vol. 20, art. no. 015011, (2011)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a method of actively reducing a single or plural modes of vibration or acoustic waves using a feedback control in a general vibration and acoustic physical system having multiple modes and non- Device.

In a practical method provided by the present invention for solving the above-mentioned problems, there is provided a vibration and acoustic physical system; A sensing unit for sensing the physics physical quantity and converting the sensed physical quantity into an electrical quantity and amplifying the electrical quantity; And an excitation unit for amplifying the input electrical quantity and inverting the physical quantity to obtain a physical quantity, and for oscillating or reducing the noise of the pre-

An input step of receiving an electric signal from the sensing unit; A mode tuning step of tuning and extracting at least one mode signal from the electric signal; A gain adjustment step of adjusting a gain of each of the at least one tuning mode signal; Adjusting a phase of each of the at least one gain adjusted tuned mode signal to compensate; And an output step of outputting the gain-adjusted and phase-compensated tuned mode signals to a unit having a total sum of the at least one gain adjusted and phase-compensated tuned mode signals.

In order to achieve the above object, the present invention provides a substantial apparatus comprising: a sensing unit for sensing physical quantities of a physical system and converting the physical quantities into electrical quantities and for amplifying them for active control of a vibration and acoustical physical system; A control unit for processing the output signal of the sensing unit so as to actively reduce the physical system resonance or resonance; And a vibrator having the physical system by amplifying and outputting a physical quantity of the output signal of the controller, wherein the controller comprises:

A mode tuner for receiving the sensing unit output signal as a control unit input signal and extracting one or more mode signals; A gain adjuster coupled to the one or more mode tuners to adjust a gain of each signal; And a phase compensator coupled to the one or more gain adjusters to adjust the phase of each signal, wherein a corresponding mode tuner, a gain adjuster, and a phase compensator for each mode are serially connected, And outputs the total sum to the control unit output signal. The general automatic attenuator device using feedback control is provided.

The general type automatic attenuator according to the present invention can actively reduce one or more modes of vibration or acoustic waves in a general vibration and acoustical physical system having a plurality of modes and non-minimum phase characteristics by using a feedback control method.

1 is a block diagram showing one embodiment of the present invention for a singular mode control of a non-minimum phase physical system governed by a singular mode;
2 is a block diagram illustrating an embodiment of the present invention for multiple mode control of a non-minimum-phase physical system governed by a plurality of modes.
3A and 3B are a block diagram (a) and an equivalent mechanical system (b) for controlling a phase-transformed 1-degree-of-freedom oscillator according to an embodiment of the present invention;
FIGS. 4A and 4B are diagrams illustrating a phase compensation method of a non-inverted phase delay mode (a) and an inverted phase delay mode (b)
Fig. 5 is a schematic view of an experimental apparatus in which a general type automatic attenuator is implemented for control of difference of a cantilever plant with time delay.
Figure 6 shows the open loop frequency response curve of the experimental plant of Figure 5 in the complex plane
7 is a graph comparing sensor vibration amounts before and after the simultaneous control of the primary and secondary modes of the experimental plant of FIG.

Specific details for carrying out the present invention are described in the following order. First, the technical idea of the present invention will be described. Secondly, an embodiment of the preferred method and apparatus provided by the present invention embodied on the basis thereof will be described in detail with reference to the drawings. Thirdly, The contents of the specific invention are re-described mathematically. Finally, the performance of the present invention is demonstrated by exemplifying the experimental results obtained by carrying out the present invention.

Technical thought

The technical idea of the present invention is based on the following mathematical rules. First, in general, the physical plant response can be expressed as a minimum phase term and a non-minimum phase term. In other words, the physical plant can be represented as a series of phase shifters, represented by a minimum phase shift and an all pass filter. Second, a finite dimensioned physics plant response can be represented by a combination of modes. Each mode in the plant therefore appears as a pair of cascaded 1 degree of freedom minimum phase oscillator and phase shifter, and the entire plant can be represented as a parallel combination of the different pairs of the above.

The technical idea of the present invention is based on the following concept. If the phase-shifted mode signal can be completely compensated by a phase compensator after extracting the phase-shifted mode signal with the mode tuner, the mode signal will behave like a response in the feedback loop and behave like a response in the minimum phase system and be spontaneously dissipated . Therefore, if a mode tuner in a fully automatic attenuator and a phase compensator in a time delay control are combined, a general type automatic attenuator capable of phase compensation will be realized. A mode modulator for each mode, a phase compensator, and a gain adjuster for adjusting the wave energy attenuation are added to form a general type of automatic attenuator for one mode. This is basically similar to the implementation of a general-purpose electronic damper by combining a proportional controller of an electronic damper and a phase compensator of a time delay control.

The general type automatic attenuator has a structure in which a phase compensator is connected in series in addition to a conventional fully automatic attenuator in a controller structure. This new controller allows for control of non-minimum phase systems that can not be controlled with conventional fully-automatic attenuators.

The general type automatic attenuator, which is a narrow-band controller, has a significant improvement in both quantitative and qualitative characteristics compared with a general type electronic damper as a broadband controller. First, as compared with the electronic dampers and the automatic damping period, the general type automatic dampers are robust against the uncertainty and sensitivity in the uncontrolled region of the plant, so that they can perform more stable control and enhance the control performance. Secondly, since it is possible to selectively and individually control each mode, when a plurality of multi-mode control is required, a controller can be constructed by simply combining parallel-type dynamic attenuators for each mode. In other words, it means that it is possible to perform individual compensation of different phase deformation amounts per mode in a plant governed by a plurality of modes. This implies that single or multiple mode control of a general physical system with multiple mode and non-minimum phase characteristics is no longer possible, which is a critically important advantage in terms of quality.

The present invention is applicable to both vibration and acoustic waves, and is based on the following physical laws. According to the physical law, the principle of a dynamic damper that absorbs vibrations in a vibration system is precisely related to the dynamic sound absorber that absorbs the sound in the acoustic system. Therefore, the term "dynamic damper" is introduced as a concept covering the dynamic damper and the dynamic damper as described above. The attenuator is a passively or actively implemented device that acts like an attenuator only in a certain frequency domain (control frequency domain) including the tuning frequency. The general type fully automatic attenuator for the single mode in the present invention includes a mode tuner implemented by an electrical filter, a gain adjuster, and a phase compensator. When this feedback control system is applied to a vibration system, it is called an automatic dynamic absorber. It is called.

DETAILED DESCRIPTION OF THE INVENTION

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

FIG. 1 is a block diagram of a control block according to an embodiment of the present invention. FIG. 1 shows a configuration in which a single general-purpose automatic attenuator is implemented for single-mode control of a non-minimum-phase physical system 20 governed by a single- The physical (or plant) means a vibrational and acoustical physical system having a wave property, which includes a vibrational or acoustical physics system and a vibrational acoustically soft physics system. Therefore, it includes both vibration and acoustic response by structure excitation, or acoustic or vibration response by acoustic excitation. The plant 20 having the singular value mode and the non-minimum-phase characteristic is configured in the form of a series connection of a phase shifter 22 having a minimum phase system composed of a 1-degree-of-freedom oscillator 21 and an arbitrary phase function. This is in accordance with a mathematical rule which is the basis of the technical idea of the present invention described above. Here, the vibrator 21 is displayed in a block in parallel connection of a mass, a spring, and a damper in order to help a conceptual understanding. For reference, the phase inverter 55 located at the output of the controller 40 is simply added to be a conventional negative feedback circuit. The signal d (98) and the signal e (99) represent electrical signals before and after the control, respectively.

Figure 2 is a multiple-mode (M) to a plurality of general type full automatic attenuator to a plurality of mode control of a general non-minimum phase physical world 20 which is dominated by (N a view showing a control block diagram according to another embodiment of the present invention; And N is less than or equal to M ). The combination of the modes in parallel in the plant is based on the mathematical rules which are the basis of the technical idea of the present invention, as described above. A continuous physical system such as a general macro structure or a large space has an infinite number of modes. However, when a low frequency is a control region and a plant sensitivity is low in a high frequency uncontrolled region, only a limited number of modes can be modeled as shown in FIG. Figure 1 for one mode is nothing more than a special situation in Figure 2.

As shown in the embodiments of FIGS. 1 and 2, the generalized automatic attenuator implementation method provided by the present invention has the following features: a vibration and sound physical system 20; A sensing unit 30 for detecting the physical quantity of the physical system and converting the physical quantity into an electrical quantity and amplifying the electrical quantity; And an excitation unit (50) for amplifying an arbitrary input electrical quantity and inverting the electromotive force to a physical quantity to have the physical system, the method comprising the steps of: inputting an electrical signal from the sensing unit (30) Step 110; A mode tuning step (41) of tuning and extracting at least one mode signal from the electric signal; A gain adjustment step (42) for adjusting a gain of each of said at least one tuning mode signal; A phase compensation step (43) for adjusting and compensating the phase of each of the at least one gain adjusted tuned mode signal; And an output step (120) for outputting (120) to the part (30) having the total sum (90) of the at least one gain adjusted and phase compensated tuned mode signal. When one mode is extracted in the mode tuning step 41 as shown in FIG. 1, the gain adjusting step 42 and the phase compensating step 43 are performed for one mode, and then the gain adjusted and phase compensated one (120) to the section (30) having the tuning mode signal of the tuning mode.

In addition, as shown in the embodiments of FIGS. 1 and 2, the characteristics of a general type automatic attenuator constructed by the above-described implementation method are as follows: In the vibration and sound physical system 20, A sensing unit 30 for amplifying the signal; A control unit (40) for processing the output signal of the sensing unit so as to actively reduce the physical system resonance or resonance; And an excitation unit 50 having the physical system by amplifying and inversely converting the output signal of the control unit into a physical quantity. The control unit 40 includes the sensing unit output A mode tuner 41 for extracting one or more mode signals from the signal 110; A gain adjuster (42) connected to the one or more mode tuners (41) to adjust a gain of each signal; And a phase compensator (43) connected to the one or more gain adjusters (42) to adjust the phase of the respective signals. The corresponding mode tuner 41, the gain adjuster 42 and the phase compensator 43 for each mode are connected in series and the total sum 90 of the respective serial connection terminal outputs constitutes the control final output signal 120 desirable. For reference, the mass, spring, and damper series connection oscillator in the mode tuner 41 are shown to facilitate conceptual understanding as in the case of the plant oscillator 21.

1 and 2, the control unit 40 is an essential device of a general type automatic attenuator, and the sensing unit 30 and the exciting unit 50 are peripheral devices. The sensing unit 30 includes at least one sensor and associated accessory devices, and likewise the accessory 50 includes at least one vibrator and associated accessory devices. The method and apparatus of the present invention have the advantage that the control unit 40 is applicable as a core regardless of the type of the detector and the exciter. Therefore, as described above, when the vibration response is reduced in the sensing unit 30 regardless of the type of the physical quantity possessed by the excitation unit 50 according to the physical law that is the basis of the technical idea of the present invention, if the acoustic response is reduced It can be called a fully automatic sound absorbing machine.

The sensing unit 30 and the exciting unit 50 may have detectors and vibrators of various types such as piezoelectric, electromagnetic and the like depending on the sensing and possessing physical quantities. Typical wave detectors include strain gauges, accelerometers, microphones, and hydrophones. Typical wave exciters include various types of piezoelectric ceramics (PZT), electromagnetic shakers, speakers, and servo motors. Depending on the type of detector selected and the type of detector, the type of appropriate auxiliary device available is determined. Since each element of the control unit 40 is preferably implemented by an analog or digital electric / electronic filter, each of the mode tuner, the gain adjuster, and the phase compensator is classified according to roles and does not mean a visual classification in terms of the controller hardware.

Finally, the difference between the present invention and the prior art which is a background of the present invention will be described more clearly with reference to the drawings. 1 is an example of the time delay control used in the prior art when the mode tuner 41 in the controller 40 is absent and the phase compensator 43 is simply implemented using a time delay circuit. At this time, the plant 20 is governed by a single mode, and the sensitivity and uncertainty in the uncontrolled region are required to ensure stable control performance. The time delay control can not be applied to the multi-mode plant as shown in Fig. 2 in principle as described above. 2, when the set of the phase shifter 22 in the plant 20 and the set of the phase compensator 43 in the controller 40 are absent, the plant becomes the minimum phase system, and the controller is an example of the automatic attenuator used in the prior art .

Mathematical theory

The foregoing is a detailed description of the technical idea and specific constitution of the present invention. It is very important in the practice of the present invention that the control performance in practical application depends on the respective component factor values in the controller, so that it is preferable to quantitatively set them. To this end, a concrete and preferred embodiment of each element of the present invention will be described below with reference to an equation. First we discuss the case of single mode control and then extend the theory to the case of multi-mode control. The mode tuner 41, the gain adjuster 42, and the phase compensator 43 must be designed in order to implement the general type automatic attenuator for one mode.

, 에서의 음의 부호는 통상적인 부궤환 되먹임(negative feedback)을 나타낸다. 플랜트는 다음 수식으로 표현할 수 있다.Fig. 3A again shows a control block diagram of the electrical aspect of Fig. 1 from a mechanical point of view. Here, the plant 20 has a mass m _s (1) || Spring k _s (2) || The damper c _s is connected to one of the phase shifters 22 connected in series with the one-degree-of-freedom minimum phase oscillator 21 connected in parallel (denoted by ||, where the parallel connection of the mechanical system means connection in terms of impedance) ). The plant transfer response becomes the output of the phase transducer 22 for the control excitation force f _c (102) input with the controller 70 shorted. For reference, the disturbance directly acting on the mass (1) is the propulsive force f _p (101). In addition, the controller 70,

The negative sign in, represents the usual negative feedback. The plant can be expressed by the following formula.

는 주가진력(101)에 대한 진동자(21) 속도응답으로 최소위상 특성을 갖으며

는 위상변형기(22)이다. 측정 물리량이 변위응답인 경우 또는 가속도 응답인 경우 [수 1]을 각각

로 나눠주거나 곱해준 형을 갖는다. 그리고

,

, 고유주파수

, 정규화 반파워밴드폭(half power bandwidth)

,

, 감쇠율

, 위상변형함수

,

표시는 위상 비반전(+: in phase) 또는 반전(-: out of phase)을 나타낸다. Here,

Has a minimum phase characteristic in terms of the velocity response of the vibrator 21 to the power 101

Is the phase shifter 22. When the measured physical quantity is a displacement response or an acceleration response, [number 1]

Or divide or multiply by. And

,

, Natural frequency

, Normalization half power bandwidth,

,

, Decay rate

, Phase transformation function

,

The indication indicates phase inversion (+: in phase) or inversion (-: out of phase).

The general type automatic attenuator of FIG. 1 can be expressed by the following equation.

은 모드동조기(41), c_a 는 이득조정기(42),

는 위상보상기(43)이다. 그리고,

는 위상보상함수이다. 상기 이득조정값 c_a 는 도 1의 이득조정기(42) 값에 감지부 및 가진부 감도와 증폭비를 반영한 값이다. 여기서 중요한 특징으로는,

이므로 모드동조기는 동조주파수

, 반파워밴드폭

,

를 갖는 2차의 밴드통과필터(band pass filter)형을 갖는다. [수 2]는 속도 물리량에 대한 전개이고 만약 변위 또는 가속도 물리량인 경우 [수 2]에 각각

를 곱한 고역통과 필터(high pass filter)나

로 나눈 저역통과필터(low pass filter)를 각각 사용한다. 상기 조치는, 측정 물리량에 무관하게 동일한 전자동감쇠효과를 얻기 위한 것이다. here

A mode tuner 41, c _a a gain adjuster 42,

Is a phase compensator 43. And,

Is a phase compensation function. The gain adjustment value c _a is _a value reflecting the sensing unit and the excitation sensitivity and amplification ratio to the gain adjuster 42 of FIG. Here,

Mode tuner,

, Half power band width

,

Band pass filter having a second-order band pass filter. [2] is the expansion to the velocity physical quantity, and if it is a displacement or acceleration physical quantity,

Pass filter (high pass filter) multiplied by

Pass filter (low pass filter) is used. This measure is intended to obtain the same fully automatic damping effect regardless of the measured physical quantity.

를 결정해야 한다. The combination of the mode tuner 41 and the gain adjuster 42 of the above formula 2 constitutes an automatic attenuator which is a combination of _a mass m _a (4) -spring k _a (5) _-a damper c _a (6) (Denoted by -) may be represented by a connected superior system 49. To control one mode, the three variables in the fully automatic attenuator and the phase compensation function

.

)는 모드고유주파수(

)와 일치시키는 것이 바람직하므로 다음 수식으로 나타난다.According to the theory of automatic attenuator design,

) Is the mode natural frequency (

), It is preferable to coincide with the following expression.

Also given the gain c _a , the normalized half-power bandwidth of an optimal mode tuner that allows for a 2dB control spillover while maximizing the corresponding control mode is given by:

. 그러므로, [수 2-4]에 따르면, 모드동조기는 제어하고자 하는 모드고유주파수에 동조(tuning)되고, 제어 후 모드응답을 최대한 평탄화하도록 반파워 밴드폭이 설정된 2차형의 저역통과, 밴드통과 또는 고역통과 필터 중 하나를 사용하는 것이 바람직하다.here

. Therefore, according to [Numerical 2-4], the mode tuner is tuned to the mode natural frequency to be controlled, and a second-order low-pass, band-pass, or half- It is preferable to use one of the high-pass filters.

는 주어진 위상변형함수

에 따라 설정되며 해당모드의 저감을 극대화하도록 설정하는 것이 바람직하다. 상기 주어진 위상변형함수에 따라 완벽히 또는 근사적으로 보상할 수 있다. 모드의 고유주파수 대역에서 저감이 특히 중요하므로 위상보상기(22)는 고유주파수

에서 다음 수식을 만족하도록 설정하는 것이 바람직하다.Phase compensation function

Lt; RTI ID = 0.0 >

And it is desirable to set such that the reduction of the corresponding mode is maximized. Can be perfectly or approximately compensated according to the given phase distortion function. Since the reduction is particularly important in the natural frequency band of the mode,

It is desirable to set the following expression to satisfy the following expression.

In the natural frequency band, if [5] is satisfied, the open-loop frequency response function, which is the product of [1] and [2], becomes equal to that of the minimum phase-shift system, resulting in the implementation of an electromagnetic dampener . FIG. 3B shows a mechanical analog system effective in the natural frequency band when phase is compensated according to [5]. And the lower vibrator 21 represents the physical system and the upper vibrator 49 is the electric and electronically realized general automatic attenuator.

(201)과 위상보상단계내의 제어기 보상위상값(205)의 합이 복소평면에서 실수축(위상각도 0도) (250)에 정합하도록 하는 조건을 만족하는 것이 바람직 하다. 이를 본 발명에서는 위상정합법이라 칭한다. FIG. 4 illustrates a phase compensation method according to [Formula 5]. In order to maximize the mode reduction according to equation 5, some kinds of phase compensation means (i.e., a phase compensator) are used to obtain an original phase value at the natural frequency of the extracted mode signal for the control-

(Phase angle 0 degrees) 250 in the complex plane to satisfy the condition that the sum of the phase compensation value 201 in the phase compensation step and the controller compensation phase value 205 in the phase compensation step matches the real axis (phase angle 0 degrees) This is referred to in the present invention as the above-mentioned approximation method.

(206)을 주어 음의 실수축(260)으로 이동시킨 후 반전시킨다. 상기 위상반전은 180도 위상지연을 야기하는 시간지연회로를 이용하는 것보다 단순히 -1을 곱하는 것이 개루프 시간지연 단축측면에서 유리하므로 바람직하다. 이는 일반적으로 개루프 시간지연이 크면 제어성능이 떨어지기 때문이다. 그러므로 최소량의 위상지연

(206)으로 위상보상기를 구성하는 것이 바람직하다. 이러한 원리에 따라, 만약 원 위상값

(201)이 아주 작은 경우(가령,

도) 180도에 가까운 위상지연회로를 쓰느니보다 차라리 무시하는 편이 바람직하다. 정량적으로 어느 정도 범위의 원 위상값(201)을 무시할 수 있는지는 제어 난이도, 제어 수월성, 목표성능 등을 고려해 시스템에 따라 달리 결정되어야 할 사항이다. 4A illustrates a phase compensation process in an in-phase delayed mode. In order to match the mode phaser 210 with the positive real axis 250, the delay phase value

 (206) to move to the negative real axis (260) and then to invert. This phase inversion is desirable because it is advantageous in terms of shortening the open loop time delay to simply multiply by -1 than to use a time delay circuit that causes a 180 degree phase delay. This is because, generally, large open-loop time delays result in poor control performance. Therefore, the minimum amount of phase delay

 It is preferable to configure the phase compensator 206 as a phase compensator. According to this principle, if the original phase value

(201) is very small (e.g.,

It is preferable to ignore the phase delay circuit near 180 degrees rather than to use it. The extent to which the original phase value (201) can be ignored quantitatively depends on the system in consideration of control difficulty, controllability, and target performance.

4B illustrates a phase compensation process in an out-of-phase delayed mode in which the mode pager 220 is simply delayed by a compensation phase value 205 to match the positive real axis 250 . Here, the phase inversion in the phase compensator 43 is unnecessary and the controller compensation phase value 205 is equal to the controller delay phase value 206.

(206)에 대해 다음 수식과 같이 표현된다.4A and 4B, it is preferable to use an electrical analog filter or an electronic digital filter as the phase compensating means. Further, using a global filter rather than the time delay filter reduces the group delay and the phase delay of the high frequency region It is preferable from the viewpoint of increasing the control width and improving stability. From this point of view, the global filter of the first order is most preferred and the desired controller delay phase value

(206) < / RTI >

이고

에서 (-)는 도 4a와 같이 비반전 지연모드에 대한 것이고 (+)는 도4b와 같이 반전지연모드에 대한 보상을 위한 것이다. 그러므로, 임의의 위상지연을 갖는 각각의 모드에 대한 위상보상 수단으로, [수 6]과 같은 위상 비반전된 또는 반전된 1차 전역필터 중 어느 하나를 사용하는 것이 바람직하다. [수 6]의 상기 1차 전역필터를 사용하는 주목적은 고유주파수

에서 위상지연을 주기 위한 것으로, 이는 고차 전역필터로도 구현이 가능하다. 또한, 고주파 진폭왜곡 특성이 중요하지 않다면, 저역통과 필터로도 구현이 가능하다. 상술한 각종 방법은 실질적으로 본 발명이 제안하는 위상 비반전 및 반전 1차 전역필터를 구현하는 것과 다름이 없음은 자명하다.here,

ego

(-) is for the non-inverting delay mode as shown in FIG. 4A and (+) is for the compensation for the inverting delay mode as shown in FIG. 4B. Therefore, as the phase compensation means for each mode having an arbitrary phase delay, it is preferable to use any one of the phase non-inverted or inverted primary global filter such as [Expression 6]. The main purpose of using the above-mentioned first-order global filter of [Expression 6]

Which can be implemented with a higher order global filter. Further, if the high-frequency amplitude distortion characteristic is not important, it can also be implemented as a low-pass filter. It will be appreciated that the various methods described above are substantially the same as implementing the phase non-inverting and inverting primary global filters proposed by the present invention.

도)를 포함하며, 상기 위상 반전모드는 원 위상값(201)이 정확히 180도인 모드뿐만 아니라 180도에 가까운 모드를 포함한다. 감쇠가 아주 적은 한정된 연속 물리계의 상이점제어 시 플랜트는 이러한 단순 반전 및 비반전 모드들에 의해 지배되므로 이러한 플랜트의 위상보상은 위상의 단순 반전 및 비반전만으로 수행하는 것이 바람직하다. 그러므로, [수 6]에서 고유주파수에서 요구되는 제어기 지연위상값(206)이 0도인 경우, 위상 보상수단으로 위상 비반전(bypass) 또는 반전(phase inversion)회로를 사용하는 것이 바람직 하다: 즉,

. 여기서, 요구되는 지연위상값(206)이 0도라는 의미는 정확히 0도를 포함한 0도에 가까운 지연위상값(206) (가령,

도)을 뜻한다. 정량적으로 어느 정도 범위의 지연위상값(206)을 0도로 보느냐는 제어 난이도, 제어 수월성, 목표성능 등 고려해 시스템에 따라 달리 결정되어야 할 사항이다. 상기 위상 비반전 회로는 필터함수가 전주파수에서 1인 필터이고 상기 위상 반전 회로는 필터함수가 전주파수에서 -1인 함수이다. 상기 비반전 및 반전회로는 [수 6]의 1차 전역필터를 포함한 각종 전역필터의 구현하려는 지연위상값(206)이 아주 작을 때의 근사식이다. 또한, 상기 비반전 및 반전 회로는 시간지연회로의 근사식이기도 하다. 또한, 상기 비반전 및 반전 회로는 각종 저역통과 필터의 저주파 근사식이기도 하다. 상술한 각종 방법은 실질적으로 본 발명이 제안하는 위상 비반전 및 반전회로를 구현하는 것과 다름이 없음은 자명하다.As described above, FIGS. 4A and 4B are examples of approximate phase compensation in the general case with the plant mode phase delay. As a special case, if a simple non-inverting mode without additional phase deformation, complete phase matching is achieved without additional phase compensation. As another example of a special situation, a simple inversion mode in which the mode phase is inverted can achieve perfect phase matching by inverting the phase in the phase compensator. The phase non-inverting mode is a mode in which the original phase value 201 is in a mode close to 0 degree (for example,

And the phase inversion mode includes a mode close to 180 degrees as well as a mode in which the original phase value 201 is exactly 180 degrees. Since the plant is dominated by these simple inverting and noninverting modes in controlling the dissimilarity of the limited continuous physical system with very little attenuation, it is desirable that the phase compensation of such a plant be performed with only simple inversion and noninversion of phase. Therefore, it is desirable to use a phase inversion or phase inversion circuit as the phase compensation means when the controller delay phase value 206 required at the natural frequency is 0 degrees in Equation 6:

. Here, the required delay phase value 206 is 0 degrees, which means that the delay phase value 206 close to 0 degrees including zero degrees (for example,

And so on. Whether or not a certain range of delay phase value 206 is zero is quantitatively determined depending on the system in consideration of control difficulty, control smoothness, and target performance. The phase noninverting circuit is a filter whose filter function is 1 at all frequencies and the phase inversion circuit is a function whose filter function is -1 at all frequencies. The noninverting and inverting circuit is an approximate expression when the delay phase value 206 to be implemented by various global filters including the first-order global filter of [Expression 6] is very small. The non-inverting and inverting circuits are also approximations of the time delay circuit. The non-inverting and inverting circuit is also a low-frequency approximation expression of various low-pass filters. It will be appreciated that the various methods described above are substantially equivalent to implementing the phase-inversion and inversion circuit proposed by the present invention.

The two factor values are independently determined from [Numerals 3, 5], and the remaining two factor values are determined by [Equation 4] and the gain adjuster allocation value c _a . The gain value can be conveniently allocated through a Nyquist stability criterion for the open loop frequency response function. This is a concrete method of designing and controlling a general type automatic attenuator in a single mode with phase delay.

As shown in FIG. 2, a plant governed by a plurality of modes can be described by expanding [Expression 1] as follows.

,

,

이며 각 변수는 [수 1]의 진동자 에서와 유사하게 정의할 수 있다. 특수한 상황으로, 전 모드가 비반전모드이면,

이고, 최소위상계가 된다. 또 다른 특수한 상황으로 모드별로

와 -1가 뒤섞여 있으면, 경감쇠계의 상이점제어로 이 경우 상술한 것처럼 위상 비반전 및 반전 회로를 사용하여 용이하게 위상을 보상할 수 있다. 경감쇠계의 상이점제어는 능동제어가 효과를 발휘할 수 있는 주요 적용대상으로서 실용적 중요성을 갖는다.Where m is the mode order and M is the total mode number. The internal term

,

,

And each variable can be defined similar to that in [1]. In a special situation, if the full mode is the non-inverting mode,

And becomes a minimum phase system. In another special situation,

And -1 are mixed, it is possible to easily compensate the phase by using the phase non-inversion and inversion circuit as described above in this case with the control of the difference in the light decay system. Control of the damping damping system has practical importance as the main application object in which the active control can be effective.

Likewise, a general type automatic attenuator which can expand [number 2] and control multiple modes can be described as follows.

_,

,

로 정의된다. 복수모드에 대한 제어기 설계 역시, 단수모드의 경우와 유사한 방법으로 수행한다. 모드별 제어기에서 [수 3-5]를 이용할 수 있으므로 제어이득

만이 미지수이다. N개 모드를 제어시 N개의 제어이득

을 결정하는 문제로 단순화 되므로 이는 그래픽한 안정성검사로 편리하게 결정될 수 있다. 필요하다면 최소위상계를 가정한 근사식인 [수 4]의 대역폭 b_n 도 추가적으로 조정해 성능 및 안정성의 제고를 꾀할 수 있다. 끝으로 본 발명이 제공하는 비최소위상 플랜트에 대한 상기 위상보상단계(43)의 특징을 기술하면, 비최소위상 플랜트에서는 모드별 위상변형기(22)의 원 위상(201)이 동일하지 않으므로, 따라서 모드별 위상보상기(43)의 보상 위상(205)도 동일할 수 없다는 특징을 갖는다.
Where n is the mode order and N is the total number of control modes. Likewise

_,

,

. The controller design for multiple modes is also performed in a manner similar to that in the singular mode. Because [Mode 3-5] can be used in the mode-specific controller,

Only unknown. When controlling the N mode, the N control gains

, Which can be conveniently determined by a graphic stability test. If necessary, the bandwidth b _n of [4], which is an approximate equation assuming the minimum phase difference, can be additionally adjusted to improve performance and stability. Finally, if we describe the features of the phase compensation step 43 for the non-minimum phase plant provided by the present invention, since the original phase 201 of the mode-wise phase shifter 22 is not the same in the non-minimum phase plant, And the compensation phase 205 of the mode-dependent phase compensator 43 can not be the same either.

Example

Hereinafter, the performance of the present invention is illustrated by presenting experimental results obtained by carrying out the present invention.

5 is a sectional view of the piezoelectric ceramic vibrator 305 provided at the roots of the cantilevers 300 randomly excited by the piezoelectric ceramic vibrator 306 and attached to the end thereof with an accelerometer 301 for vibration measurement, FIG. 6 is an experimental apparatus for actively reducing the plurality of modes of the cantilever through control. FIG. An amplifier 302 for an accelerometer, an amplifier 304 for a vibrator, a lowpass filter 303 for artificially delaying a time delay, and a controller 40 to form a feedback circuit. The control unit 40 implements [Numeral 8] using a DSP prototyping module (Matlab / Simulink xPC Target).

6 shows the open loop frequency response function between the input of the amplifier for use 304 and the output of the time delay circuit 303 in the complex plane in a state where the control unit 40 is short-circuited. The plant response is dominated by the first two mode responses, where the first response position 211 is the pager position of the first mode and the second response position 221 is that of the second mode. The phase deformation of each mode was compensated by the above assumption method. 6, when the open-loop frequency response is measured except for the time delay circuit 303, only the non-inversion mode and the inversion mode are prominently displayed since the system is a light attenuation physical system. The inserted time delay circuit 303 is intended to further complicate the plant and demonstrate control performance in the general case.

FIG. 7 is a graph showing the comparison of the amount of vibration through the control 310 at the accelerometer position, the predicted 320 after the control, and the experiment 330 when the primary mode and the secondary mode are simultaneously controlled by the above- to be. Both modes show a significant reduction of about 20 dB. The phenomenon that the amount of vibration is greatly reduced in the resonance zone of the peak portion instead of the vibration of the shoulder portion is a typical phenomenon when the dynamic damper mechanism is used irrespective of the mechanical or electric and electronic methods. Although not shown in the figure, when the dynamic mode damper for the first mode is used, the second mode response is greatly reduced as compared with the first mode in FIG. 7, and conversely, when only the dynamic damper for the second mode is used, appear. Separate independent control of these modes is possible because the fully automatic damper is a narrowband controller.

Although the experimental apparatus and the result of the resonance control using the piezoelectric ceramic exciter and the accelerometer are shown in the above, the present control method and apparatus can be used without limit to the resonance or active reduction of the resonance wave in the mechanical system having fundamentally different types of exciter and detector have. Also, it can be used without limitations in vibration control or acoustic control by structure excitation, or sound control or vibration control by acoustic excitation.

The aim of this study is to reduce the resonance and resonance frequency to achieve the general low noise and low vibration mechanism for unspecified random disturbance. If the physical system is excited by one or several prominent frequencies (e.g., automobile engine noise, fan noise, etc.), the excitation frequency is set to the active reduction target frequency, and the same method and apparatus provided by the present invention provides an active reduction effect Can be obtained. This is similar to the principle of effectively reducing single-frequency vibration regardless of whether the mechanical dynamic damper is resonant frequency. However, when the excitation frequency other than the natural frequency is the control target frequency, the plant sensitivity may deteriorate at the corresponding frequency, so that the control performance and stability in the controller design may be somewhat limited.

Representative industrial applications of the present invention include various types of motor manipulators, articulated robots, hard disk drives, interior noise and transmission noise of a transportation system such as a structural sound system, and exhaust system noise such as a sound system. Particularly, the product itself is advantageous in the case of an excitation unit having a control unit (for example, a motor) or an electromotive composite physical system including a control unit and an excitation unit (for example, a motor manipulator and an audio system). In this case, the general automatic fully-attenuator device intended by the present invention can be easily configured only by the addition of the sensing part for vibration or sound measurement and the improvement of the existing control part, and as a result, the product can be made high-performance as a product capable of vibration or sound control.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be apparent to those skilled in the art that a variety of general-purpose automatic attenuators may be implemented without departing from the technical idea of the present invention.

1: Oscillator mass
2: oscillator spring
3: oscillator damper
4: Copper damper mass
5: Copper damper spring
6: Copper damper damper
20: Physical plant
21: Minimum phase physics
22: phase transducer
30:
40:
41: Mode tuner
42: Gain adjuster
43: Phase compensator
49: Dynamic Attenuator
50:
55: Phase Reversal
90: adder
98: Pre-control response
99: response after control
101: Primary excitation
102: Controlling force
110: Control input
120: Control output
201: mode source deformation phase value
205: controller compensation phase value
206: controller delay phase value
210: non-inverting mode pager
220: inverted mode phaser
250: Phase matching pager
260: phase anti-matching pager
300: Cantilever
301: Accelerometer
302: Accelerometer preamplifier
303: Time delay circuit
304: Piezoelectric ceramic amplifier
305: Piezoelectric ceramic for control
306: Piezoelectric ceramic for disturbance
310: Vibration response before control
320: Vibration predictive response after control
330: Vibration test response after control

Claims (9)

Vibration and acoustical physics (20);
A sensing unit 30 for detecting the physical quantity of the physical system and converting the physical quantity into an electrical quantity and amplifying the electrical quantity; And
An excitation unit 50 having the physical system by amplifying the random input electric power and inverting it with a physical quantity,
A method for active reduction of vibration or noise of a pre-reversal total system having non-minimum phase characteristics,
An input step (110) of receiving an electric signal from the sensing part (30);
A mode tuning step (41) of tuning and extracting at least one mode signal from the electric signal;
A gain adjustment step (42) for adjusting a gain of each of said at least one tuning mode signal;
A phase compensation step (43) for adjusting and compensating the phase of each of the at least one gain adjusted tuned mode signal; And
(120) to a section (30) having a total sum (90) of said at least one gain adjusted and phase compensated tuned mode signal
Including
/ RTI > The method according to claim 1,
Means for tuning and extracting said at least one mode signal in said mode tuning step (41)
Using one of the low-pass, band-pass or high-pass filters of the quadratic type
/ RTI > delete The method according to claim 1,
For compensating for each phase in the phase compensation step (43)
The compensation phase value (205)
(Phase angle 0 degrees) 250 in the complex plane, and the phase difference between the original phase value 201 at the natural frequency of the extracted mode signal and the compensated phase value 205 of the phase compensation step with respect to the control- To match
/ RTI > The method of claim 4,
As means for implementing the compensation phase value 205,
Using electrical or electronic filters
/ RTI > The method of claim 5,
The electrical or electronic filter may comprise:
If the compensation phase value 205 is not 0 degrees and 180 degrees,
Including a phase non-inverting or inverting global filter
/ RTI > The method of claim 5,
The electrical or electronic filter may comprise:
If the compensation phase value 205 is 0 degrees or 180 degrees,
Including phase inversion or inversion circuits
/ RTI > delete For active control of the vibration and sound control system physical system 20 having non-minimum phase characteristics,
A sensing unit 30 for detecting the physical quantity of the physical system and converting the physical quantity into an electrical quantity and amplifying the electrical quantity;
A control unit (40) for processing the output signal of the sensing unit so as to actively reduce the physical system resonance or resonance; And
An excitation unit 50 having the physical system by inversely converting the output signal of the control unit by amplification and physical quantity,
The control device comprising:
The control unit (40)
The method of claim 1,
A mode tuner 41 for receiving the output signal 110 of the sensing unit 30 as an input to the control unit 40 and extracting one or more mode signals;
A gain adjuster (42) connected to the one or more mode tuners (41) to adjust the gain of each output signal; And
A phase compensator 43 coupled to the one or more gain adjusters 42 to adjust the phase of each output signal,
, ≪ / RTI &
The corresponding mode tuner 41, the gain adjuster 42 and the phase compensator 43 for each mode are connected in series and the entire sum 90 of the serial connection terminal final outputs is output to the control output signal 120
And a feedback control unit.

Images