WO2010136661A1 - Procede et dispositif d'attenuation d'un bruit a bande etroite dans un habitacle d'un vehicule - Google Patents
Procede et dispositif d'attenuation d'un bruit a bande etroite dans un habitacle d'un vehicule Download PDFInfo
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- WO2010136661A1 WO2010136661A1 PCT/FR2009/051647 FR2009051647W WO2010136661A1 WO 2010136661 A1 WO2010136661 A1 WO 2010136661A1 FR 2009051647 W FR2009051647 W FR 2009051647W WO 2010136661 A1 WO2010136661 A1 WO 2010136661A1
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1787—General system configurations
- G10K11/17875—General system configurations using an error signal without a reference signal, e.g. pure feedback
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1781—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions
- G10K11/17813—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the acoustic paths, e.g. estimating, calibrating or testing of transfer functions or cross-terms
- G10K11/17817—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase characterised by the analysis of input or output signals, e.g. frequency range, modes, transfer functions characterised by the analysis of the acoustic paths, e.g. estimating, calibrating or testing of transfer functions or cross-terms between the output signals and the error signals, i.e. secondary path
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
- G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase
- G10K11/1785—Methods, e.g. algorithms; Devices
- G10K11/17853—Methods, e.g. algorithms; Devices of the filter
- G10K11/17854—Methods, e.g. algorithms; Devices of the filter the filter being an adaptive filter
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K2210/00—Details of active noise control [ANC] covered by G10K11/178 but not provided for in any of its subgroups
- G10K2210/10—Applications
- G10K2210/128—Vehicles
Definitions
- the present invention relates to a method and a device for rejecting noise in a passenger compartment of a vehicle, in particular an automobile, by active control. It has applications in the industrial field of motor vehicles, this term being taken in the broad sense including including light vehicles, heavy, road, rail, boats, barges, submarines, and that of electroacoustic equipment as per example the car radios to which such a function can be added.
- Some acoustic noises occurring in a passenger compartment of a vehicle may have a broad spectrum, others may instead be approximately single-frequency. This is particularly the case of the noise generated by the rotation of the motor shaft, known as a buzz that results in a noise whose spectrum is composed of lines whose frequencies are proportional to the frequency of rotation of the motor. 'motor shaft with a fundamental and harmonics.
- This structure requires a loudspeaker, an error microphone at which it seeks to cancel the noise and a controller receiving a reference signal, correlated with the signal to be canceled, producing a correction signal sent on the speaker.
- This structure is shown schematically in Figure 1 of the state of the art. This structure has given rise to a series of algorithms based on the least square square (LMS) method: Fx-LMS, FR-LMS, whose goal is to minimize the least squares signal. from the error microphone, by exploiting the reference signal.
- LMS least square square
- feedback or feedback.
- This structure is shown schematically in Figure 2 of the state of the art. This structure does not require a reference signal, unlike the so-called “feedforward” structure. It is then in a conventional feedback structure and all the tools of the conventional automatic (including measurement of robustness, stability analysis, performance) can be used. In particular, a robustness analysis of the looped system with respect to the variation of the transfer function of the passenger compartment can be performed. One can also study the frequency behavior of the system, not only at the disturbance rejection frequency, but also at other frequencies. The present invention is classified in this second type of structure, called "feedback".
- It relates more particularly to an active process in real time, by feedback, attenuation of a narrow-band noise, essentially single-frequency at at least one determined frequency, in a passenger compartment of a vehicle by emission of a sound by at least one a transducer, typically a loudspeaker, controlled with a signal u (t) or U (t) as the case may be, generated by a programmable computer, as a function of an acoustic measurement signal y (t) or Y (t) as the case may be, carried out by at least one acoustic sensor, typically a microphone, the use of a sensor corresponding to a monovariable case and the use of several sensors corresponding to a multivariable case, and in a first design phase, the electroacoustic behavior of the assembly formed by the passenger compartment, the transducer, and the sensor being modeled by an electroacoustic model in the form of an electroacoustic transfer function which is determined and calculated a correction control law is then determined and calculated from
- a correction control law comprising applying a Youla parameter to a central corrector and such that only the Youla parameter has coefficients dependent on the frequency of the noise to be attenuated in said correction control law, the central corrector having fixed coefficients, the Youla parameter being in the form of an infinite impulse response filter and after determining and calculating the correction control law, it is stored in a memory of the calculator at less said variable coefficients, preferably in a table as a function of the determined noise frequency / p (t) used in the design phase and in the use phase, in real time: - the current frequency of the noise is recovered to attenuate, - the correction control law, comprising the central corrector with the Youla parameter, is calculated with the computer, using, for the parameter and Youla the memorized coefficients of a determined frequency corresponding to the current frequency of the noise to be attenuated.
- a correction control law comprising a fixed coefficient part called a central corrector and a variable coefficient part as a function of the frequency of the noise to be attenuated, which here is a parameter of Youla, the part the variable coefficient corrector being an infinite impulse response filter and after determining and calculating the correction control law, at least one of said variable coefficients is stored in a computer memory, preferably in a table according to the frequency (s); noise determinations p (t) used in the design phase and in the utilization phase, in real time: the current frequency of the noise to be attenuated is recovered and the calculator is computed with the correction control law, including the corrector fixed coefficient coefficient with the variable coefficient part using for the variable coefficient part, the coefficients nts stored at a determined frequency corresponding to the current frequency of the noise to be attenuated.
- a central corrector with fixed coefficients is used for the attenuation of the noise at at least one determined frequency, to which is added a block with variable coefficients which is a parameter of Youla in the form of a Q block of Youla.
- signal in the context of the invention concerns both analog signals such as the electrical signal coming out of the microphone itself as digital signals such as the output signal of the block Q (q '1 ) Youla.
- transducer and sensor are used in a generic and functional manner and that in practice interface electronics are associated therewith such as in particular analog-digital or digital-to-analog converters, one or more filters. anti-aliasing, amplifiers (for the speaker (s) and microphone).
- signal also covers single-ended cases (a sensor and thus a single input of acoustic measurements) and multivariable (several sensors and therefore several inputs of acoustic measurements) and regardless of the number of loudspeakers.
- the invention can be applied both to a monovariable case (a single microphone, that is to say a single location where the noise will be attenuated in the cabin), as multivariable cases (several microphones, that is to say, as many locations where the noise will be attenuated).
- the invention is applicable both to attenuation of a noise which is at a particular fixed frequency over time (for example noise of a truck refrigeration compressor) that a noise whose frequency can evolve over time and in this case, in the design phase, it is better to determine and calculate parameters of Youla, Q block (q ⁇ 1 ), for several frequencies determined in order to take during the phase of using the result of the calculation of the Youla parameter for a determined frequency which corresponds (equal to or close to, which in fact corresponds best or is interpolated otherwise) to the current frequency of the noise to be attenuated.
- the parameterization of Youla has already been used for sinusoidal disturbance rejection: it is the vibration control of an active suspension.
- the corresponding article is: "Adaptive narrow disturbance applied to an active suspension- an internai model approach "(Automatica 2005), whose authors are I. D Landau, et al.
- the Youla parameter is in the form of a finite impulse response filter (transfer function with a single polynomial without denominator) whereas in the present invention we will see that this parameter of Youla is in the form of an infinite impulse response filter (transfer function with a numerator and denominator).
- Youla parameter coefficients are computed using an adaptive device, that is, disturbance frequency information is not known unlike the present invention where this frequency is known from measurements, including a revolution counter, and where the Youla parameter coefficients are stored in tables for their use in real time.
- the device and method of the invention allow a much greater robustness of the control law. In the case of the invention, this corresponds to an insensitivity of the control law to the parametric variations of the electroacoustic model, that is to say to the variations of the configuration of the passenger compartment, which, of an industrial point of view, is a capital element.
- the design phase is performed in a programmable computer
- the Youla parameter is determined and calculated by discretization of a cell of the second continuous order
- the polynomials Ro (q ⁇ v ) and So (q ⁇ v ) of the central corrector are determined and calculated in such a way that said central corrector alone guarantees gain and phase margins. without having a goal of disturbance rejection,
- a linear electroacoustic model is used, the electroacoustic model being in the form of a discrete rational electroacoustic transfer function, and the said model is determined and calculated electroacoustics by acoustic excitation of the passenger compartment by the transducer (s) and acoustic measurements by the sensor then application of a linear system identification method with the measurements and the model
- b) - in a second step it implements a central corrector applied to the determined and calculated electroacoustic model, the central corrector being in the form of a corrector RS of two blocks 1 / ' So (q ⁇ ⁇ ) and Ro (q ⁇ ⁇ ), in the central corrector, the block M So (q ⁇ v ) producing the signal u (t) and receiving as input the inverted output signal of the block Ro (q ⁇ ⁇ ), said block Ro (q ⁇ ⁇ ) ) receiving as input the signal
- the correction control law comprising the corrector RS with the Youla parameter
- the correction control law is made to calculate using, for the Youla parameter, the coefficients which have been calculated for a noise frequency corresponding to the current frequency of the noise at attenuate, the coefficients of Ro (q ⁇ v ) and So (q ⁇ v ) being fixed, - in the design phase (monovariable case), the following operations are carried out: a) - in the first stage, the acoustically excited l cabin by applying to the (x) transducer (s) an excitation signal whose spectral density is substantially uniform over a useful frequency band, b) - in the second stage, the polynomials Ro (q ⁇ v) are determined and calculated ) and So (q ⁇ v ) of the central corrector so that said central corrector is equivalent to a corrector calculated by placing the poles of the closed loop in the application of the central corrector to the electroacoustic transfer function, n the poles of the closed
- the calculation of the noise estimate is obtained by applying the numerator of the electroacoustic transfer function to u (t) and subtracting the result from the application of y (t) to the denominator of the electroacoustic transfer function,
- an electroacoustic transfer function of the form is used: where d is the number of system delay sampling periods, B and A are q polynomials of the form:
- a ⁇ q- ⁇ ) ⁇ + a ⁇ -q- ⁇ + - - -a na -q- na the b, and a, being scalars, and Q being the delay operator of a sampling period, and the calculation of the noise estimate is obtained by applying the function q 'd B (q 1 ) to u (t) and subtracting the result from the application of y (t) to the function A (q -1 )
- the polynomials Ro (q ⁇ ⁇ ) and So (q ⁇ ⁇ ) of the central corrector are determined and calculated by a method of placing the poles, n dominant poles of the closed loop provided with the central corrector being chosen equal to the n poles of the electroacoustic transfer function and m auxiliary poles are high frequency poles,
- a linear electroacoustic model in the multivariable case, in the design phase: a) firstly, a linear electroacoustic model is used, the electroacoustic model being in the form of a state representation of matrix blocks H, W, G and q "1 .l, G being a transition matrix, H being an input matrix, W being an output matrix and I the identity matrix, said state representation being able to express itself by a recurrence equation:
- Y (t) W - X (t) with X (t): vector of state, U (t): vector of the inputs, Y (t): vector of the outputs, and one determines and computes said electroacoustic model by excitation acoustics of the passenger compartment by the transducers and acoustic measurements by the sensors then application of a method of identification of linear system with the measurements and the model, b) - in a second time, a central corrector is applied to the determined and calculated electroacoustic model, the central corrector being in observer form of state and estimated state return which expresses X a state vector of the observer iteratively as a function of Kf a gain of the observer, Kc a vector of return on the estimated state, as well as the electroacoustic model previously determined and calculated, either
- the correction control law comprising the fixed coefficient central corrector with the variable coefficient Youla parameter
- the calculation of Kc being for example carried out by optimization LQ (linear quadratic), c) - in the third time, one determines and calculates by considering a representation of observer of state increased, the poles of the Youla Q block within the correction control law for at least one noise frequency P (t) of which at least the determined frequency of the noise to be attenuated according to an attenuation criterion, so to obtain coefficient values of the Youla parameter for the / each of the frequencies, and in the use phase, in real time, the following operations are performed: - the correction control law, corrector is made to the calculator fixed coefficients with Youla parameter with variable coefficients, to produce the signal U (t) sent to the transducer (s), as a function of the acoustic measurements Y (t) and using for the Youla parameter the values urs coefficients determined and calculated for a given frequency corresponding to the current frequency, - in the second time, the calculation of
- the method is adapted to a set of determined frequencies of noise to be attenuated and the time c) is repeated for each of the determined frequencies and, in the use phase when none of the determined frequencies corresponds to the current frequency of the noise to be attenuated, an interpolation is made at said current frequency for the values of the coefficients of the Q block of Youla from the coefficient values of said Q block of Youla known for the determined frequencies,
- the signals are sampled at a frequency Fe and at the time a) a useful frequency band of the excitation signal is used which is substantially [0, Fe / 2], the excitation signal has a uniform spectral density,
- a fourth time d) of verification of the stability and robustness of the model of the electroacoustic system and of the correction control law, central corrector with Youla parameter, is added to the design phase; previously obtained at times a) to c) by simulating the correction control law obtained at times b) and c) applied to the electroacoustic model obtained at time a) for the determined frequency / frequencies and when a predetermined stability criterion and / or robustness is not respected, we reiterate at least the time c) by modifying the attenuation criterion,
- the time b) is further reiterated by modifying the auxiliary poles of the closed loop
- the design phase is a preliminary phase and is performed once, prior to the use phase, with storage of the results of the determinations and calculations for use in the use phase (for example, in the single-variable case, storing the coefficients of the blocks R, S and Q for the calculated correction control law and the calculated electroacoustic transfer function, for the block Q of the coefficient tables that can be implemented because of calculations for a plurality of determined frequencies)
- the attenuation criterion is selected as a function of at least one of the following two elements: the depth (amplitude) of the attenuation and the bandwidth of the attenuation, the current frequency of the noise to be attenuated is recovered from a measurement of a rev counter of a motor of the vehicle.
- the invention also relates to a device specially adapted for implementing the method of the invention for attenuation of narrow-band noise, essentially single-frequency at at least one determined frequency
- the device comprising at least one transducer , typically a loudspeaker, controlled with a signal generated by a programmable computer, as a function of a signal of acoustic measurements made by at least one acoustic sensor, typically a microphone, a correction control law having been determined and calculated in a first design phase, said calculated correction control law being used in a second phase of use in the computer to produce a signal sent to the transducer according to the signal received from the sensor for attenuation of said noise, and which device comprises means implementation in the calculator of a correction control law c omportant the application of a Youla parameter to a central corrector, only the Youla parameter having coefficients dependent on the frequency of the noise to attenuate in said correction control law the central corrector having fixed coefficients and a memory of the calculator stores at least said
- the invention also relates to an instruction medium for directly or indirectly controlling the computer so that it operates according to the method of the invention and in particular in real time in the use phase.
- FIG. 1 is a schematic representation of a structure called "feedforward" or at pre-compensation of a noise attenuation system
- FIG. 2 of the state of the art which is a schematic representation of a so-called "feedback" or feedback structure of a noise attenuation system
- Figure 3 of the prior art which is a representation of the schematic diagram of an electroacoustic loopback system with control law for vehicle cabin
- Figure 4 which is a schematic representation of the time of the stimulation of the system real electroacoustic of the vehicle cabin intended to determine and calculate the electroacoustic model that will be used
- FIG. 6 which is an example of a direct sensitivity function and which shows that by application of the Bode-Freudenberg-Looze theorem, both areas, below and above the 0 dB axis, are equal
- Figure 7 which is a representation of a monovariable case of correction control law applied to the electroacoustic model and comprising a central corrector type RS which has been a parameter of Youla
- FIG. 6 which is an example of a direct sensitivity function and which shows that by application of the Bode-Freudenberg-Looze theorem, both areas, below and above the 0 dB axis, are equal
- Figure 7 which is a representation of a monovariable case of correction control law applied to the electroacoustic model and comprising a central corrector type RS which has been a parameter of Youla
- FIG. 8 which represents the complete diagram of a correction control law with a central corrector of the RS type, to which a parameter of Youla has been added and calculated in real time in the utilization phase for attenuation of noise in the passenger compartment
- Figure 10 which is a schematic representation of the system to be controlled is to say the electroacoustic model of the passenger compartment, in the multivariable case
- Figure 1 1 which is a block diagram representation of the central corrector, in the multivariable case
- Figure 12 which is a block diagram representation of the central corrector applied to the electroacoustic model of the passenger compartment, in the multivariable case
- Figure 13 which is a block diagram representation of the correction control law, central corrector + Youla parameter applied to the electroacoustic model of the passenger compartment in the multivariable case
- Figure 14 which is a block diagram representation of the correction control law, central corrector + You parameter as used in real time for
- this device under control of a programmable computer, consisting of a microphone and a microphone. one or more speakers connected to each other and integrated into the vehicle.
- the loudspeakers are controlled by a control law which generates control signals from the signal received from the microphone.
- the control law and the methodology for regulating this control law will therefore be described in detail.
- the device of the invention (and the method that is implemented therein) comprises means for rejecting a single-frequency interference (noise), the frequency of which is assumed to be known thanks to external information such as, for example, the speed of rotation of the engine of the vehicle given by a tachometer ...
- a single-frequency interference noise
- the electroacoustic model must be in the form of a rational transfer function, that is to say behaving as an infinite, discrete impulse response filter.
- the computer being digital, analog-digital and digital-to-analog converters are used in particular for sampling the analog signals.
- the equations governing the real behavior of the passenger compartment are partial differential equations, ie the transfer function representing exactly the real system is of infinite dimension (parameter model distributed). Therefore, in order to put the invention into practice, it is necessary to find a compromise for defining the electroacoustic model and the order of the transfer function of said model is chosen with a sufficiently small dimension so as not to result in a large volume of calculations. but large enough to correctly approximate the model. It follows from this constraint that oversampling is to be avoided. For example, for a maximum disturbing noise frequency of 120 Hz, a sampling frequency of 500 Hz can be chosen. One of the advantages of choosing a moderate sampling frequency lies in a reduction in the charging load. calculation of the on-board computer.
- the speaker amplifier since the speaker amplifier has a much higher sampling frequency (or even operates with analog components), it is desirable to place between the computer output and the speaker input.
- a low-pass filter operating at the frequency of the loudspeaker amplifier, the cut-off frequency of said filter being constant, in order to reduce the harmonic distortions due to the transition between different sampling period signals.
- the transfer function of the electroacoustic model which describes the behavior of the real electroacoustic system between the points u (t) and y (t) of the system in the absence of any loopback. If we put q "1 the delay operator of a sampling period, the transfer function sought, in the absence of any looping and noise (the noise that is to be attenuated is not present), is of the form: y (i) q- d B (q- 1 ) u ⁇ i) A (Q- 1 ) d is the number of delay sampling periods of the system,
- the identification is performed by stimulating the real system with a signal u (t) whose spectral density is substantially uniform, over the frequency range [0, Fe / 2], Fe / 2 being the Nyquist frequency. It is understood that the frequency / frequencies of the noise that one seeks to attenuate must also be included in the same range and Fe is therefore chosen according to the highest frequency of the noise to be attenuated.
- a stimulation excitation signal can be produced for example by an SBPA (pseudo-random binary sequence). This stimulation, shown schematically in FIG. 4, is performed in the absence of disturbing external noise. All the test data u (t) and y (t) during the test time on the real system (cockpit with its electroacoustic components) are recorded in order to be exploited in the preferential setting of an offline processing.
- this identification operation with stimulation is performed for all occupancy configurations of the passenger compartment of the actual model.
- This occupancy may correspond to placements of passengers, accessories (additional seats for example), change of acoustic or electronic equipment, or any other condition that may modify the electroacoustic behavior of the passenger compartment.
- the RST corrector is the most general form of implementation of a monovariable corrector. We can then schematize the system looped by the block diagram of Figure q ⁇ d B ⁇ q- 1 )
- ⁇ ⁇ H - is the transfer function of the electroacoustic model described more
- the direct sensitivity function Syp can be defined as the transfer function between the perturbation signal p (t) and the microphone signal y (t). This transfer function describes the behavior of the closed loop concerning the rejection of acoustic disturbance.
- the computation of the coefficients of the polynomials R (q ⁇ v ) and S (q ⁇ v ) can in particular be done by a technique of placement of poles. There are also other calculation techniques for synthesizing a linear corrector, but preferably the pole placement technique is used here. It amounts to calculating the coefficients of R and S by specifying the poles of the closed loop which are the roots of the polynomial P, ie:
- Equation (2) is a Bézout equation.
- the details of the resolution of the Bézout equation can be found, for example, in the work of ID Landau cited above, on pages 151 and 152. It involves the resolution of a Sylvester system.
- Matlab® and Scilab® software that enable this resolution.
- the choice of poles can be made according to various strategies. One of these strategies is explained below.
- H 2 I fpert frequency
- FIG. 7 Such a monovariable system controlled by an RS-type corrector to which the Youla parameter has been added is shown schematically in FIG. 7.
- Such a corrector is based on a so-called central corrector RS consisting of the blocks Ro (q ⁇ v ) and So (q ⁇ ⁇ ).
- Ro and So being q ⁇ ⁇ polynomials
- P (q- 1 ) A (q- 1 ) ⁇ So (q- 1 ) Mq ⁇ 1 ) - q ⁇ d B (q - 1 ) . ⁇ (q ⁇ 1 ) + q ⁇ d B (q- 1 ). (Ro (q- 1 ) .a (q- 1 ) + A (q- 1 ) . ⁇ (q- 1 ))
- Hs and ⁇ are q ⁇ ⁇ polynomials of degree 2 and ri 'r 2 are damping coefficients of a second order cell.
- the discretization operation of the continuous transfer function can be performed by means of calculation routines which can be found, for example, in computer software dedicated to the automatic. In the case of Matlab®, this is the "c2d" function.
- the calculation of these parameters as a function of the frequency f of the disturbance to be rejected can be performed offline, beforehand, by solving the Bézout equation (10), during the design phase of the control law, the parameters that can be stored in tables on the on-board programmable computer in the vehicle and called, in real time, according to the frequency to be rejected.
- Figure 8 shows the complete diagram of the correction control law (central corrector RS + parameter Youla Q).
- an electroacoustic model that can be described as median, that is to say, a model corresponding to an intermediate level of occupancy of the passenger among the models. electroacoustics corresponding to different occupancy configurations of the passenger compartment.
- the central corrector For the synthesis of the central corrector, it is preferably sought that it guarantees maximum margins without a particular objective of disturbance rejection. This can be achieved, for example, by a pole placement technique, and, if necessary, one can consult the book of ID Landau already cited for this, in particular, the whole of chapter 3. More precisely, it can be seen proceed as explained later.
- a ⁇ ⁇ n being the degree of the polynomial A.
- the central corrector does not reject the disturbances p (t), but ensures maximum robustness.
- a certain number of "high frequency" auxiliary poles whose value is between 0.05 and 0.5 in the complex plane are also placed (in the case where there is no oversampling). Recall that a sampled system is stable if all its poles are strictly included in the unit circle in the complex plane. These auxiliary poles have the role of increasing the robustness of the control law, when adding the Youla parameter.
- the central corrector was thus determined and calculated.
- the polynomials Hs ( ⁇ 1 ) and a (q ⁇ 1 ) are calculated as explained above by discretization of a second-order cell and the Bézout equation (10) is solved to determine ⁇ ( ⁇ 1 ).
- this calculation resulting in the determination of a (q ⁇ 1 ) and ⁇ (g ⁇ ) as a function of fpert is performed over the entire frequency range where it is intended to perform a disturbance rejection.
- ⁇ and ⁇ can be calculated for frequencies varying from 2 Hz to 2 Hz, over a range from 30 to 120 Hz.
- the correction control law (corrector RS + Youla parameter) is then synthesized. It is possible, in an optional phase of the design phase, to verify that it has a stability and a correct level of robustness (module margin> 0.5) with a simulation of the looped system and disturbance rejection over the entire range of Frequency for all occupancy configurations of the passenger compartment using the electroacoustic models identified in the various configurations. If this is not the case, we come back to the design of the control law by playing on the coefficients ⁇ x , ⁇ 2 (depth and frequency width of the rejection). If this is still not enough, we can then try to take as another electro acoustic model among those obtained for the various cockpit configurations or, then, to play on the location of the auxiliary poles of the closed loop (high poles frequency).
- the stored data in particular the coefficients of the polynomials a (q ⁇ ⁇ ) and ⁇ (q ⁇ ⁇ ) for the parameter Youla, are called according to the information on the the current frequency of the noise to be rejected, originating, for example, indirectly from a tachometric measurement on the motor shaft.
- current frequency values that do not correspond directly to the frequencies of the inputs of the table (current frequency between two frequencies of calculation of the values of the table)
- the frequency mesh is not too great between the frequencies used for the calculations of the coefficients, a mesh of 2 Hz in 2 Hz is generally suitable.
- the invention relates to a real-time active method, by feedback, attenuation of a narrow-band noise, essentially single-frequency at at least a predetermined frequency, in a passenger compartment of a vehicle by emission of a sound by at least one transducer, typically a loudspeaker, controlled with a signal u (t) generated by a programmable computer, depending of a signal of acoustic measurements y (t) made by an acoustic sensor, typically a microphone, in a first phase of design, the electroacoustic behavior of the assembly formed by the passenger compartment, the transducer, and the sensor being modeled by an electroacoustic model in the form of an electroacoustic transfer function which is determined and calculated, a correction control law then being determined and calculated from a global model of the system in which the correction control law is applied to the electroacoustic transfer function whose output additionally receives a noise signal p (t) to give the signal y (t)
- a discrete rational electroacoustic transfer function is used as an electroacoustic model, and said electroacoustic transfer function is determined and calculated by acoustic excitation of the passenger compartment by the transducer and acoustic measurements by the sensor then application of a linear system identification method with the measurements and the model of the transfer function
- the correction control law comprising the corrector RS with the Youla parameter, is made to calculate using the one calculated for a determined frequency corresponding to the current frequency of the noise to be attenuated. So far we have presented a simple implementation with a cockpit with a single microphone and a speaker, or a group of speakers, all excited by the same signal.
- Eliott indicates that the zone of silence around the error microphone does not exceed one tenth of the wavelength of the noise to be rejected. about 1 10 cm for a noise of 30 Hz, 55 cm for a noise of 60 Hz, 28 cm for a noise of 120 Hz at room temperature.
- a first solution is to use the previously established control scheme for a single microphone to make a loudspeaker-microphone loop one by one.
- This solution may give very poor results, or even instability. Indeed, a given loudspeaker of a modeled system will have an influence on all the microphones of the cabin, even those which are not of its own modeled system.
- FIG. 1 a diagram of the electroacoustic transfer on a 2 * 2 system (2 loudspeakers, 2 microphones) is shown in FIG.
- the microphone 1 is sensitive to the acoustic effects of the speaker 1 (HP1) and the speaker 2 (HP2).
- the microphone 2 is sensitive to the acoustic effects of speaker 2 (HP2) and speaker 1 (HP1).
- This exemplary system can be modeled by the following transfer function matrix:
- the representation of a multivariable system by transfer function is actually impractical, it prefers the representation of state, which is a universal representation of linear systems (multivariable or not).
- nu ny to simplify the explanations but this is not restrictive, the following may also apply to the case n> ny.
- the state representation of the electroacoustic system (of the passenger compartment) can be written in the form of a so-called equation of state equation of recurrence:
- G a matrix called size evolution matrix (n * n)
- the coefficients of matrices G, H, W define the multivariate linear system. It is specified that X (t) corresponds to the vector X at time t and X (t + Te) corresponds to the vector X at time t + Te (ie a sampling period after X (t)).
- the correction control law is based on this state representation, so, as for the monovariable case, is it necessary to determine and calculate the model of the electroacoustic system to be controlled (electroacoustic model of the passenger compartment), that is to say say the coefficients of matrices G, H, W.
- the coefficients of the model of the electroacoustic system to be controlled by an identification procedure during the design phase, that is to say by stimulation of the real electroacoustic system with spectral density noise. substantially uniform, the naked speakers being excited by signals that are decorrelated between them.
- the input data (microphones measurements) and outputs (signals for the loudspeakers) are stored in a computer and are used therein to obtain a state representation of said system, this time using algorithms identification systems for multivariable systems.
- algorithms identification systems for multivariable systems.
- These algorithms are for example provided in toolboxes specialized software in the field of automation such as Matlab®. L. LJUNG's book “System identification - Theory for the user” Prentice Hall, Englewood Cliffs, N. S, 1987, can also be used with advantage.
- the algorithms presented in this work gave rise to a toolbox dedicated to identification in the Matlab® software. It is the same for the validation algorithms of the model obtained from the electroacoustic system to be controlled.
- Another possible embodiment is to make an identification of the naked * ny transfer functions one by one with the monovariable identification tools, and stimulating speakers each one and then proceed to aggregation nu * ny models in one, multivariable.
- This aggregation can be done, for example by the least squares method of innovation, algorithm described in Ph de Larminat's book: "Automatique appliquée” Hermès 2007.
- X (t + Te) G - X (t) + H - U (t) + Kf - (Y (t) -W - X (t)) (19) where: X- is the state vector of the observer of size (n * 1) Kf is the gain of the observer of size (n * ny)
- Kc being the vector of return on the estimated state of the size system (nu * n).
- FIG. 11 there is the block diagram of the central corrector and in FIG. 12 the block diagram of the central corrector applied to the electroacoustic model of the passenger compartment, again in the multivariable case.
- This last correction structure is conventional in automatic.
- the poles of the closed loop consist of the eigenvalues of G - Kf • W and the eigenvalues of G ⁇ H - Kc, ie: eig (G - Kf - W) u eig (G - H - Kc) .
- eig (G - Kf -W) are named: filtering poles and eig ⁇ ( j - H • Kc) are named: control poles with eig () designating the eigenvalues.
- the placement of the poles of the closed loop provided with the central corrector can be done by choosing the coefficients of Kf and Kc which are the adjustment parameters of this control structure.
- the number of poles to be placed is 2 * n.
- central corrector this observer set and estimated state return.
- n poles of the closed loop on the n poles of the electroacoustic system ie the roots of the polynomial of A (q ⁇ v )
- the central corrector has maximum robustness, without particular objective of disturbance rejection.
- Kc Another way of proceeding to calculate Kc consists of an optimization LQ (quadratic linear) for which the literature is very abundant. For example, one can refer to the book “Robustness and optimal control” published by CEPADUES, 1999 on pages 69-79.
- LQ quadrattic linear
- Ph de Larminat calls an optimization LQ of type B, that is to say based on a horizon Tc.
- the details of this type B LQ optimization can be found in Ph. De Larminat's work: "Automatique appliquée", Hermès, 2007.
- we will find associated with this work a calculation routine for the Matlab® software, allowing the calculation of the coefficients of Kc according to the optimization LQ of type B.
- the central corrector being determined and calculated, we will now present how to determine and calculate the Youla parameter which is associated with the central corrector for realize the correction control law in the multivariable case.
- the objective is always to reject sinusoidal perturbations of known frequency fpert, here at the level of each microphone, making sure that only the coefficients of the Youla parameter vary as fpert varies. It can be shown that the Youla parameter associates with the central corrector to form the correction control law as shown in Figure 13.
- the justification of the diagram of Figure 13 can be found for example in the book: " Robustness and optimal control "published by CEPADUES in 1999, pages 224-225.
- X Q being the state vector of the Youla parameter.
- Hs ⁇ ( ⁇ gH- 1 ) In the monovariable case, a transfer function was computed - ⁇ r- P ⁇ 1 "a ⁇ q ⁇ ⁇ ) discretization of a cell of the second continuous order and ⁇ was then the denominator of the Youla and Hs parameter was used in a Bézout equation to find ⁇ , Youla coefficient numerator.
- X 21 is the state vector of the perturbation model i (size 2 * 1)
- Z 2 is the additive perturbation on the output i (size 1 * 1) with:
- the discretization of the continuous transfer function can be done for example by means of the calculation routine "c2d" of the Matlab® software.
- X 2 (t + Te) G 2 -X 2 (Jt) + Kf 2 - (YWX (t) -W 2 -X 2 (t)) (29) with:
- Kf 2 is large (2 * ny, ny)
- Kc 2 is large (naked, 2 * ny) and with
- equations (36) and (37) can be found in ph. de Larminat: "Automatic Applied" hermès 2007 on pages 202 205.
- the resolution of equations (37) leads to the resolution of a Sylvester system. It should be noted that a calculation routine for the Matlab® software solving the asymptotic rejection equations is provided with the aforementioned work.
- the coefficients of A Q , B Q and C Q can be calculated during the adjustment of the correction control law and put into tables in order, in use phase, to be called as a function of fpert on the real time calculator.
- Figure 14 gives the diagram of application of the correction control law in the phase of use in real time in the programmable computer.
- the Youla Q block can be implemented as a transfer matrix to minimize the number of variant coefficients in this block. Such an operation can be carried out for example by means of the "ss2tf" routine of the Matlab® software.
- the adjustment parameters of the correction control law reside in the choice of control poles (by Kc parameters) which have an influence on the robustness of the control law.
- Kc parameters the damping factors
- the invention thus implements a central corrector with a Youla parameter which is in the form of an infinite impulse response filter with at least one input and at least one output, a number that depends on the chosen embodiments (monovariable, multivariable, number of sensors and transducers ).
- fpert ⁇ being not necessarily integer
- ⁇ can be constant without necessarily being integer, but it can also be a function of fpert, the only condition being that the function ⁇ (fpert) is continuous.
- Tustin consisting of a product of two continuous second order cells: s > + ⁇ ç 11 ⁇ + 1 ⁇ 2 - ⁇ n .s + l
- G 21 W 2 is not unique.
- hs h hs 2 ⁇ hs 3 ⁇ 4 ⁇ hs are the coefficients of the numerator of a transfer function.
- H ⁇ q - ⁇ 1-) h Oi + h li -q ⁇ + h 2i (q ⁇ ) + K ⁇ q - ⁇ 1-) + h 4i (q ⁇ ) and hs u U
- Kf 2 is large (4 * ny, ny)
- Kc 2 is of size (naked, 4 * ny) with ⁇ 2 according to equation (31) but of size (4ny * 4ny)
- the asymptotic rejection equations (36) and (37) are unchanged.
- the resolution of such a multivariate system is similar to the case of the rejection of a single previously detailed frequency. What has been described for a number of frequencies simultaneously rejected equal to two may be optionally extended to a higher number of frequencies, however, as said above, the increase in the number of rejected frequencies causes a loss of robustness quickly becoming prohibitive .
- a central corrector to which a Youla parameter is added can be applied in practice for noise attenuation in other ways than the one detailed above.
- the type of electroacoustic model may be different
- the methods of determination and / or synthesis of the central corrector and Youla parameter may also be different and it is useful to refer to the literature indicated for the practical implementation of these other modalities.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Soundproofing, Sound Blocking, And Sound Damping (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
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JP2012512413A JP5409900B2 (ja) | 2009-05-28 | 2009-08-31 | 車両乗員室内の狭帯域ノイズを減衰させる方法及び装置 |
BRPI0925323-8A BRPI0925323B1 (pt) | 2009-05-28 | 2009-08-31 | processo ativo em tempo real de atenuação por realimentação de um ruído de banda estreita e dispositivo especialmente adaptado para a realização do processo |
RU2011152851/28A RU2504025C2 (ru) | 2009-05-28 | 2009-08-31 | Способ и устройство для подавления узкополосных шумов в пассажирском салоне транспортного средства |
US13/322,777 US8682000B2 (en) | 2009-05-28 | 2009-08-31 | Method and device for narrow-band noise suppression in a vehicle passenger compartment |
KR1020117028413A KR101749951B1 (ko) | 2009-05-28 | 2009-08-31 | 차량 승객 객실에서의 협대역 잡음 억제 방법 및 디바이스 |
MX2011012516A MX2011012516A (es) | 2009-05-28 | 2009-08-31 | Metodo y dispositivo para supresion de ruido de banda angosta en el compartimiento de pasaje de vehiculo. |
EP09740508.8A EP2436003B1 (fr) | 2009-05-28 | 2009-08-31 | Procede et dispositif d'attenuation d'un bruit a bande etroite dans un habitacle d'un vehicule |
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WO2013076137A1 (fr) | 2011-11-25 | 2013-05-30 | Renault S.A.S. | Procede et dispositif de controle d'un systeme de reduction active de bruit |
WO2014108611A1 (fr) | 2012-12-19 | 2014-07-17 | Ixblue | Procédé de contrôle actif acoustique de bruit perturbateur à bandes(s) étroite(s) à microphone(s) mobile(s), système correspondant |
FR3002068A1 (fr) * | 2013-02-13 | 2014-08-15 | Ixblue | Procede de controle actif acoustique bande etroite a fonction(s) de transfert variable(s), systeme correspondant |
WO2014125204A1 (fr) * | 2013-02-13 | 2014-08-21 | Ixblue | Procédé de contrôle actif acoustique bande étroite à fonction(s) de transfert variable(s), système correspondant |
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WO2012137418A1 (fr) * | 2011-04-05 | 2012-10-11 | 株式会社ブリヂストン | Système de réduction des vibrations d'un véhicule |
US9139222B2 (en) * | 2012-03-30 | 2015-09-22 | Deere & Company | Self tuning universal steering control system, method, and apparatus for off-road vehicles |
US9245519B2 (en) * | 2013-02-15 | 2016-01-26 | Bose Corporation | Forward speaker noise cancellation in a vehicle |
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CN103337865B (zh) * | 2013-05-31 | 2015-01-21 | 华北电力大学 | 基于Youla参数化的阻尼自适应控制系统及控制方法 |
US9150227B1 (en) * | 2014-04-07 | 2015-10-06 | Electro-Motive Diesel, Inc. | Receive attenuation system for a locomotive consist |
US10121464B2 (en) * | 2014-12-08 | 2018-11-06 | Ford Global Technologies, Llc | Subband algorithm with threshold for robust broadband active noise control system |
JP2017083600A (ja) * | 2015-10-27 | 2017-05-18 | パナソニックIpマネジメント株式会社 | 車載収音装置及び収音方法 |
KR101939383B1 (ko) * | 2016-10-18 | 2019-04-10 | 현대오트론 주식회사 | 초음파 센서 장치 및 초음파 센서 장치의 센싱 방법 |
JP6426794B1 (ja) * | 2017-06-16 | 2018-11-21 | 本田技研工業株式会社 | 電磁サスペンション装置 |
FR3088134B1 (fr) * | 2018-11-05 | 2022-01-21 | Renault Sas | Systeme de controle actif feedforward du bruit de roulement d'un vehicule automobile avec capteurs de reference a proximite du systeme multimedia |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2013076137A1 (fr) | 2011-11-25 | 2013-05-30 | Renault S.A.S. | Procede et dispositif de controle d'un systeme de reduction active de bruit |
WO2014108611A1 (fr) | 2012-12-19 | 2014-07-17 | Ixblue | Procédé de contrôle actif acoustique de bruit perturbateur à bandes(s) étroite(s) à microphone(s) mobile(s), système correspondant |
FR3002068A1 (fr) * | 2013-02-13 | 2014-08-15 | Ixblue | Procede de controle actif acoustique bande etroite a fonction(s) de transfert variable(s), systeme correspondant |
WO2014125204A1 (fr) * | 2013-02-13 | 2014-08-21 | Ixblue | Procédé de contrôle actif acoustique bande étroite à fonction(s) de transfert variable(s), système correspondant |
US9613613B2 (en) | 2013-02-13 | 2017-04-04 | Ixblue | Method for active narrow-band acoustic control with variable transfer function(s), and corresponding system |
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BRPI0925323B1 (pt) | 2019-10-29 |
EP2436003B1 (fr) | 2018-11-07 |
KR20120044931A (ko) | 2012-05-08 |
JP5409900B2 (ja) | 2014-02-05 |
FR2946203B1 (fr) | 2016-07-29 |
US20120070013A1 (en) | 2012-03-22 |
MX2011012516A (es) | 2012-06-19 |
KR101749951B1 (ko) | 2017-07-03 |
FR2946203A1 (fr) | 2010-12-03 |
US8682000B2 (en) | 2014-03-25 |
EP2436003A1 (fr) | 2012-04-04 |
BRPI0925323A2 (pt) | 2016-04-19 |
JP2012528034A (ja) | 2012-11-12 |
RU2504025C2 (ru) | 2014-01-10 |
RU2011152851A (ru) | 2013-08-10 |
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