DAMPING APPARATUS FOR REDUCING VIBRATION OF AUTOMOBILE BODY

• US 20100204881A1
• Filed: 04/27/2007
• Published: 08/12/2010
• Est. Priority Date: 05/08/2006
• Status: Active Grant

• Current Assignee: Shinko Electric Industries Company Limited (Fujitsu Limited)
• Original Assignee: Shinko Electric Industries Company Limited (Fujitsu Limited)
• Inventors: Fujii, Takayoshi, NAKANO, Katsuyoshi, SATO, Yushi, MORIYA, Hideaki, FUKUNAGA, Takashi, NARIHISA, Masaaki, MURAGISHI, Yaushi, ONOUE, Takashi, NAKAGAWA, Hiroshi
• Granted Patent: US 8,401,735 B2
• Time in Patent Office: Days
• US Class Current: 701/36
• CPC Class Codes: B60G 17/018 characterised by the use of a specific signal treatment or control method
• CPC Class Codes: F16F 15/002 characterised by the control method or circuitry control of mechanical oscillations per se G05D19/00
• CPC Class Codes: F16F 7/1005 characterised by active control of the mass
• CPC Class Codes: G05D 19/02 characterised by the use of electric means
• CPC Class Codes: G06F 7/76 Arrangements for rearranging, permuting or selecting data according to predetermined rules, independently of the content of the data

Abstract

A damping apparatus for an automobile is provided, capable of ensuring a high level of reliability while obtaining excellent damping effect with simple configuration. The damping apparatus for an automobile that reduces vibrations of an automobile body may include an actuator that is attached to the automobile body and drives an auxiliary mass; a current detector that detects a current flowing through an armature of the actuator; a section that detects a terminal voltage applied to the actuator; a calculation circuit that calculates an induced voltage of the actuator, and further calculates at least one of the relative velocity, relative displacement, and relative acceleration of the actuator, based on a current detected by the current detector and the terminal voltage; and a control circuit that drive-controls the actuator based on at least one of the relative velocity, relative displacement, and relative acceleration of the actuator calculated by the calculation circuit.

Claims

1. A damping apparatus for an automobile that reduces vibrations of an automobile body, comprising:

an actuator that is attached to the automobile body and drives an auxiliary mass;

a current detector that detects a current flowing through an armature of the actuator;

a section that detects a terminal voltage applied to the actuator;

a calculation circuit that calculates an induced voltage of the actuator, and further calculates at least one of a relative velocity, a relative displacement, and a relative acceleration of the actuator, based on a current detected by the current detector and the terminal voltage; and

a control circuit that controls activation of the actuator, based on at least one of the relative velocity, the relative displacement, and the relative acceleration of the actuator calculated by the calculation circuit.

3. The damping apparatus for an automobile according to either one of claim 1 and claim 2, wherein the calculation circuit calculates the induced voltage, limited to a band in a vicinity of a frequency of a natural vibration of the actuator.

4. The damping apparatus for an automobile according to claim 3, wherein the calculation circuit includes a band-pass filter that limits to a band in the vicinity of the frequency of the natural vibration of the actuator.

5. The damping apparatus for an automobile according to claim 4, wherein the band-pass filter is set so that a phase in the vicinity of the frequency of the natural vibration of the actuator becomes 0 degrees.

6. The damping apparatus for an automobile according to claim 4, wherein the calculation circuit further includes a low-pass filter with a cutoff frequency that is higher than the frequency of the natural vibration of the actuator.

7. The damping apparatus for an automobile according to either one of claim 1 and claim 2, wherein the terminal voltage is found from a command value of a voltage that should be applied to the actuator.

8. The damping apparatus for an automobile according to either one of claim 1 and claim 2, wherein the damping apparatus is attached to a body frame of an automobile.

9. The damping apparatus for an automobile according to either one of claim 1 and claim 2, wherein the damping apparatus is attached in a vicinity of an engine mount of an automobile.

10. The damping apparatus for an automobile according to either one of claim 1 and claim 2, wherein the damping apparatus is attached in a vicinity of a radiator of an automobile.

11. The damping apparatus for an automobile according to either one of claim 1 and claim 2, wherein the damping apparatus is attached to under a rear luggage carrying section or under a trunk of an automobile.

12. The damping apparatus for an automobile according to either one of claim 1 and claim 2, wherein the actuator is an actuator that uses electromagnetic force.

13. The damping apparatus for an automobile according to either one of claim 1 and claim 2, wherein the actuator is a reciprocating motor.

2. A damping apparatus for an automobile that reduces vibrations of an automobile body, comprising:

an actuator that is attached to the automobile body and drives an auxiliary mass;

a spring element that supports the auxiliary mass so as to be able to move in a drive direction of the actuator;

a current detector that detects a current flowing through an armature of the actuator;

a section that detects a terminal voltage applied to the actuator;

a calculation circuit that calculates an induced voltage of the actuator, and further calculates a relative velocity of the actuator, based on a current detected by the current detector and the terminal voltage; and

a control circuit that superimposes a damping characteristic based on a relative velocity calculated by the calculation circuit, and controls the actuator.

14. A control method for reducing vibrations of an automobile body, comprising the steps of:

detecting a current flowing through an armature of an actuator that is attached to the automobile body and drives an auxiliary mass;

detecting a terminal voltage applied to the actuator;

calculating an induced voltage of the actuator, and further calculating at least one of a relative velocity, a relative displacement, and a relative acceleration of the actuator, based on the detected current and the detected terminal voltage; and

controlling activation of the actuator, based on at least one of the calculated relative velocity, relative displacement, and relative acceleration of the actuator.

16. The control method for reducing vibrations of an automobile body according to either one of claim 14 and claim 15, wherein the induced voltage is calculated, limited to a band in a vicinity of a frequency of a natural vibration of the actuator.

15. A control method for reducing vibrations of an automobile body, comprising the steps of:

detecting a current flowing through an armature of an actuator that is attached to the automobile body and drives an auxiliary mass;

detecting a terminal voltage applied to the actuator;

calculating an induced voltage of the actuator, and further calculating a relative velocity of the actuator, based on the detected current and the detected terminal voltage; and

superimposing a damping characteristic based on the calculated relative velocity of the actuator, and drive-controlling the actuator.

17. A damping apparatus that suppresses unwanted vibrations and generates predetermined vibrations as necessary, comprising:

an excitation section that excites a damping target object by vibrating an auxiliary mass supported by a linear actuator;

a frequency detection section that detects a frequency of an excitation source that oscillates the damping target object;

a vibration detection section that detects vibrations at a measuring point;

a calculation section that finds command values of vibrations to be suppressed and vibrations to be generated, based on a frequency of the excitation source and a vibration detected at the measuring point; and

a control signal output section that outputs a control signal, in which the command value of vibrations to be suppressed and the command value of vibrations to be generated are superimposed, to the excitation section.

18. The damping apparatus according to claim 17, wherein the excitation section vibrates the auxiliary mass supported by the linear actuator so as to give a condition of the vibrations to be generated.

19. The damping apparatus according to claim 17, wherein the excitation section includes a plurality of linear actuators in which oscillation directions of the auxiliary mass are different, and

the frequency detection section is provided in a position where vibrations are to be suppressed or generated, and

the calculation section finds command values of vibrations to be suppressed and vibrations to be generated, for the position where the frequency detection section is provided.

20. The damping apparatus according to claim 17, wherein the linear actuator is a reciprocating motor.

21. The damping apparatus according to claim 17, wherein

the damping apparatus is provided in an automobile, and

the calculation circuit finds a command value of vibrations to be generated so that bass sound vibrations are amplified, based on audio signals of music being played inside of the automobile.

22. The damping apparatus according to claim 17, wherein

the damping apparatus is provided in an automobile, and

the calculation circuit finds a command value of vibrations to suppress engine vibrations, and a command value to reduce muffled sound inside of the automobile due to engine vibrations.

23. A vibration suppression control method for a damping apparatus that includes an excitation section that excites a damping target object by vibrating an auxiliary mass supported by a linear actuator in order to suppress unwanted vibrations and generate predetermined vibrations as necessary, the vibration suppression control method comprising:

a frequency detection step of detecting a frequency of an excitation source that oscillates the damping target object;

a vibration detection step of detecting vibrations at a measuring point;

a calculation step of finding command values of vibrations to be suppressed and vibrations to be generated, based on a frequency of the excitation source and the vibration detected at the measuring point; and

a control signal outputting step of outputting a control signal, in which the command value of vibrations to be suppressed and the command value of vibrations to be generated are superimposed, to the excitation section.

24. A recording medium storing a damping program for executing on a computer and for a damping apparatus that includes an excitation section that excites a damping target object by vibrating an auxiliary mass supported by a linear actuator in order to suppress unwanted vibrations and generate predetermined vibrations as necessary,

the damping program comprises:

a frequency detection process of detecting a frequency of an excitation source that oscillates the damping target object;

a vibration detection process of detecting vibrations at a measuring point;

a calculation process of finding command values of vibrations to be suppressed and vibrations to be generated, based on a frequency of the excitation source and a vibration detected at the measuring point; and

a control signal outputting process of outputting a control signal, in which the command value of vibrations to be suppressed and the command value of vibrations to be generated are superimposed, to the excitation section.

25. A damping apparatus for an automobile comprising:

an excitation section that vibrates an auxiliary mass;

a state information acquisition section that acquires information indicating an operating state of an automobile;

a mapping control section that reads out an excitation force command value according to the operating state information acquired by the state information acquisition section from a damping information table where the operating state information and a command value for generating an excitation force by the excitation section are associated with each other, and that controls the excitation section based on the excitation force command value;

a vibration detection section that detects a vibration state value indicating a vibration state of a damping target at a measuring point;

an adaptive control section that finds an excitation force command value by using an adaptive filter according to the vibration state detected by the vibration detection section, and controls the excitation section based on the excitation force command value; and

a control switching section that switches to control of the excitation section by the adaptive control section in a case where a vibration state value detected by the vibration detection section exceeds a predetermined value during control of the excitation section by the mapping control section.

26. The damping apparatus for an automobile according to claim 25, comprising an updating section that updates the damping information table, based on the excitation force command value found by the adaptive control section,

wherein the control switching section switches to control of the excitation section by the mapping control section, when updating of the damping information table is performed by the updating section.

27. The damping apparatus for an automobile according to claim 25, wherein

the adaptive control section includes a time domain adaptive filter and a frequency domain adaptive filter, and

the control switching section switches between the time domain adaptive filter and the frequency domain adaptive filter in accordance with a change rate of engine revolution speed.

28. The damping apparatus for an automobile according to claim 27, wherein a transfer function from excitation force command value to vibration state value used in the time domain adaptive filter is updated using calculation results of the frequency domain adaptive filter.

29. The damping apparatus for an automobile according to claim 28, wherein updating of the transfer function is executed at constant time intervals, or every time the engine revolution speed becomes an engine revolution speed away from a previously updated engine revolution speed by a predetermined interval.

30. The damping apparatus for an automobile according to claim 25, wherein the control switching section switches to control of the excitation section by the mapping control section in a case where a vibration state value detected by the vibration detection section falls below a predetermined value during control of the excitation section by the adaptive control section.

31. The damping apparatus for an automobile according to claim 25, wherein the control switching section switches to control of the excitation section by the mapping control section in a case where a vibration state value detected by the vibration detection section falls below a predetermined value, and a change rate of engine revolution speed exceeds a predetermined value during control of the excitation section by the adaptive control section.

32. A damping control method for a damping apparatus for an automobile comprising:

an excitation section that vibrates an auxiliary mass;

a state information acquisition section that acquires information indicating an operating state of an automobile;

a mapping control section that reads out an excitation force command value according to operating state information acquired by the state information acquisition section from a damping information table where the operating state information and a command value for generating an excitation force by the excitation section are associated with each other, and that controls the excitation section based on the excitation force command value;

a vibration detection section that detects a vibration state value indicating a vibration state of a damping target at a measuring point; and

an adaptive control section that finds an excitation force command value by using an adaptive filter according to the vibration state detected by the vibration detection section, and controls the excitation section based on the excitation force command value, the method comprising

a control switching step of switching to control of the excitation section by the adaptive control section in a case where the vibration state value detected by the vibration detection section exceeds a predetermined value during control of the excitation section by the mapping control section.

33. The damping control method according to claim 32, wherein the control switching step switches to control of the excitation section by the mapping control section, when during control of the excitation section by the adaptive control section, a vibration state value detected by the vibration detection section falls below a predetermined value.

34. The damping control method according to claim 32, wherein the control switching step switches to control of the excitation section by the mapping control section in a case where a vibration state value detected by the vibration detection section falls below a predetermined value, and a change rate of engine revolution speed exceeds a predetermined value during control of the excitation section by the adaptive control section.

35. A damping apparatus that comprises an actuator that drives an auxiliary mass held by spring elements, with respect to a damping target section, and that suppresses vibrations of the damping target section by using a reaction force at the time of driving the auxiliary mass, the damping apparatus further comprising

a resonance suppression section of the actuator based on an ideal actuator inverse characteristic that uses a transfer function of a vibration velocity with respect to an excitation force of a vibrating system of the actuator.

36. The damping apparatus according to claim 35, wherein the transfer function is a secondary vibrating system transfer function of relative vibration velocity with respect to excitation force.

37. The damping apparatus according to claim 36, wherein a damping coefficient of the transfer function is within a range of 1/100 to 100 times a critical damping.

38. The damping apparatus according to claim 35 further comprising a band-pass filter that limits the ideal actuator inverse characteristic to a band in a vicinity of a resonance frequency of the actuator.

39. The damping apparatus according to claim 35, wherein the relative vibration velocity is calculated from a current and an applied voltage of the actuator.

40. The damping apparatus according to claim 35, wherein the relative vibration velocity is calculated from a current signal flowing through the actuator, and a voltage command value to the actuator.

41. The damping apparatus according to claim 35 further comprising a vibration suppression command generating section that generates a vibration suppression command value for suppressing vibrations of the damping target section.

42. The damping apparatus according to claim 41, wherein the vibration suppression command value is generated based on an excitation force of an excitation source or frequency information of an excitation force.

43. The damping apparatus according to claim 41, wherein the vibration suppression command value is generated based on an excitation force of an excitation source or frequency information of an excitation force, and a vibration signal of a vibration observation point.

44. The damping apparatus according to claim 41, wherein the vibration suppression command value is generated from vibration information of the damping target section.

45. The damping apparatus according to claim 41, wherein the vibration suppression command value is generated from vibration information of the damping target section, and a vibration signal of a vibration observation point.

46. The damping apparatus according to claim 41, wherein the vibration suppression command value is generated from excitation force information of the damping target section.

47. The damping apparatus according to claim 41, wherein the vibration suppression command value is generated from excitation force information of the damping target section, and a vibration signal of a vibration observation point.

48. The damping apparatus according to claim 35, wherein the actuator is an electromagnetic linear actuator that generates a thrust by an electromagnetic force.

49. The damping apparatus according to claim 35, wherein the actuator is a piezoelectric linear actuator that uses an element that causes displacement by applying a voltage thereto.

50. The damping apparatus according to claim 48, wherein the electromagnetic linear actuator is a reciprocating motor.

51. A damping method for a damping apparatus that comprises an actuator that drives an auxiliary mass held by spring elements, with respect to a damping target section, and that suppresses vibrations of the damping target section by using a reaction three at the time of driving the auxiliary mass, the damping method comprises

a resonance suppression step of the actuator based on an ideal actuator inverse characteristic that uses a transfer function of a vibration velocity with respect to an excitation force of a vibrating system of the actuator.

52. A damping apparatus comprising:

an auxiliary mass member supported by a spring element;

an actuator that vibrates the auxiliary mass member; and

a control section that controls a current applied to the actuator in order to suppress vibrations of a vibration damping target by using a reaction force when vibrating the auxiliary mass member with the actuator,

wherein the control section further includes an amplitude amount control section that performs control for limiting a value of a current applied to the actuator, so that a vibration amplitude of the auxiliary mass member does not exceed a predetermined value in a case of controlling current applied to the actuator based on an amplitude command value and a frequency command value of vibrations to be generated.

53. The damping apparatus according to claim 52, wherein the amplitude amount control section includes an amplitude upper limit table in which an amplitude upper limit value is predefined, and limits a current value applied to the actuator by referring to the amplitude upper limit table and correcting an amplitude command value of the vibrations to be generated.

54. The damping apparatus according to claim 52, wherein the amplitude amount control section is provided with amplitude upper limit data in which an amplitude upper limit value is predefined, and limits a current value applied to the actuator by referring to the amplitude upper limit data and correcting an application current command value obtained based on an amplitude command value and a frequency command value of the vibrations to be generated.

55. The damping apparatus according to claim 52, wherein the amplitude amount control section includes an amplitude gradient limiting section that limits a gradient of amplitude variations, and limits a current value applied to the actuator by correcting an amplitude command value of the vibrations to be generated, using the amplitude gradient limiting section.

56. The damping apparatus according to claim 52, wherein the amplitude amount control section includes a current gradient limiting section that limits a gradient of application current variations, and limits a current value applied to the actuator by correcting an application current command value obtained based on an amplitude command value and a frequency command value of the vibrations to be generated, using the current gradient limiting section.

57. The damping apparatus according to claim 52, wherein the amplitude amount control section includes

an amplitude suppression section that suppresses amplitude, and

frequency change detection section that detects a change amount of the frequency command value, and

the amplitude amount control section limits a current value applied to the actuator by correcting an amplitude command value of the vibrations to be generated, using the amplitude suppression section when a frequency change detected by the frequency change detection section exceeds a predetermined value.

58. The damping apparatus according to claim 52, wherein the amplitude amount control section includes

an current suppression section that suppresses application current, and

frequency change detection section that detects a change amount of the frequency command value, and

the amplitude amount control section limits a current value applied to the actuator by correcting an application current command value obtained based on an amplitude command value and a frequency command value of the vibrations to be generated when a frequency change detected by the frequency change detection section exceeds a predetermined value.

59. A damping method for a damping apparatus comprising:

an auxiliary mass member supported by a spring element;

an actuator that vibrates the auxiliary mass member; and

a control section that controls a current applied to the actuator in order to suppress vibrations of a vibration damping target by using a reaction force when vibrating the auxiliary mass member with the actuator, the damping method comprising

an amplitude amount control step of performing control for limiting a value of a current applied to the actuator, so that a vibration amplitude of the auxiliary mass member does not exceed a predetermined value in a case of controlling current applied to the actuator based on an amplitude command value and a frequency command value of vibrations to be generated.