Apparatus and method for actively reducing vibration and/or noise

• US 5,910,993 A
• Filed: 05/16/1997
• Issued: 06/08/1999
• Est. Priority Date: 05/16/1996
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Aoki, Kazushige, Akatu, Yousuke, Hamabe, Tutomu, Satoh, Shigeki
• Primary Examiner(s): Isen, Forester W.
• Application Number:
  US08/858,041
• Time in Patent Office: 753 Days
• Field of Search: 381/71.8, 381/71.11, 381/71.12, 381/71.14, 364/724.19
• US Class Current: 381/71.12
• CPC Class Codes: F16F 13/264 comprising means for acting dynamically on the walls bounding a working chamber
• CPC Class Codes: F16F 15/02 Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems F16F15/005 takes precedence ; layered products B32B; suppression of vibration in ships B63; relieving load on bearings, using magnetic means F16C39/06
• CPC Class Codes: G10K 11/17823 Reference signals, e.g. ambient acoustic environment
• CPC Class Codes: G10K 11/17825 Error signals
• CPC Class Codes: G10K 11/17854 the filter being an adaptive filter
• CPC Class Codes: G10K 11/17883 the reference signal being derived from a machine operating condition, e.g. engine RPM or vehicle speed
• CPC Class Codes: G10K 2210/121 Rotating machines, e.g. engines, turbines, motors; Periodic or quasi-periodic signals in general
• CPC Class Codes: G10K 2210/1282 Automobiles
• CPC Class Codes: G10K 2210/3026 Feedback
• CPC Class Codes: G10K 2210/3027 Feedforward
• CPC Class Codes: G10K 2210/3039 Nonlinear, e.g. clipping, numerical truncation, thresholding or variable input and output gain
• CPC Class Codes: G10K 2210/3211 Active mounts for vibrating structures with means to actively suppress the vibration, e.g. for vehicles
• CPC Class Codes: G10K 2210/511 Narrow band, e.g. implementations for single frequency cancellation

Abstract

In apparatus and method for actively reducing a periodic vibration and/or noise, a divergence determinator is provided in which a presence or absence of a higher order divergence of a control of the reduction of the periodic vibration and/or noise is determined on the basis of a sum of two sampled values of at least one of either a drive signal y or a residual wave (vibration or noise) signal e, phases of the two sampled values being mutually deviated from each other by an approximately half period of a fundamental order of the corresponding drive or residual wave signal.

Claims

1. An apparatus comprising:

g) a periodic wave generating source;

h) a control wave generating source so arranged and constructed as to be enabled to generate and output a control wave to be interfered against a periodic wave developed on the periodic wave generating source;

i) a reference signal generator so arranged and constructed as to generate and output a reference signal representing a developed condition of the periodic wave from the periodic wave generating source;

j) a residual wave detector so arranged and constructed as to detect a residual wave after the interference of the control wave outputted by the control wave generating source against the periodic wave developed on the periodic wave generating source and output a residual wave signal representing the residual wave; and

k) a controller having;

an adaptive digital filter so arranged and constructed as to filter the reference signal therethrough to generate and output a drive signal to drive the control wave generating source to generate and output the control wave;

an adaptive algorithm in accordance with which filter coefficients of the adaptive digital filter are updated on the basis of either the reference signal or the residual wave signal so as to control a reduction of the periodic wave;

a sampler so arranged and constructed as to sample at least one of either or both of the drive signal and the residual wave signal for a predetermined sampling period;

a summer so arranged and constructed as to sum two sampled values of at least one of either or both of the drive signal outputted by the adaptive digital filter and the residual wave signal outputted by the residual wave detector; and

a divergence determinator so arranged and constructed as to determine whether a higher order divergence of a control over a transmission of the periodic wave from the periodic wave generating source toward an external therefrom occurs on the basis of the sum of the two sampled values of either or both of the drive signal or the residual wave signal, phases of the two sampled values being mutually deviated from each other by an approximately half period of a fundamental order of the corresponding drive signal or residual wave signal.

2. An apparatus as claimed in claim 1, wherein the divergence determinator determines whether the higher order divergence of the control occurs on the basis of the sum of the two sampled values of the drive signal whose phases are mutually deviated from each other by approximately the half period of the fundamental order of the drive signal.

3. An apparatus as claimed in claim 1, wherein the divergence determinator determines whether the higher order divergence of the control occurs on the basis of the sum of the two sampled values of the residual wave signal whose phases are mutually deviated from each other by approximately the half period of the fundamental order of the residual wave signal.

4. An apparatus as claimed in claim 1, wherein the divergence determinator comprises a first divergence determinator arranged for determining whether the higher order divergence of the control occurs on the basis of the sum of the two sampled values of the drive signal whose phases are mutually deviated from each other by approximately the half period of the fundamental order of the drive signal and a second divergence determinator arranged for determining whether the higher order divergence of the control occurs on the basis of the sum of the two sampled values of the residual wave signal whose phases are mutually deviated from each other by approximately the half period of the fundamental order of the residual wave signal.

5. An apparatus as claimed in claim 4, wherein the periodic wave developed on the periodic wave generating source is either a periodic wave related to a vibration or a periodic acoustic wave related to a noise having a correlation to the vibration, the residual wave signal is a residual vibration signal or a residual noise signal, and the reference signal represents the developed condition of the vibration related periodic wave or the noise related acoustic wave.

6. An apparatus as claimed in claim 5, wherein the periodic wave generating source is an engine mounted on a vehicle, which further comprises a vehicle speed detector arranged for detecting a vehicle speed of the vehicle, wherein the controller comprises a vehicle speed determinator arranged for determining whether the vehicle speed is in excess of a predetermined extremely low speed value, and wherein the first divergence determinator is effected when the vehicle speed determinator determines that the vehicle speed is in excess of the predetermined extremely low speed value and the second divergence determinator is effected when the vehicle speed determinator is within the predetermined extremely low speed value.

7. An apparatus as claimed in claim 6, wherein the controller further comprises:

a setter arranged for setting a threshold value used to determine the occurrence of the divergence; and

a calculator arranged for calculating a total of absolute values of the sum of the two sampled values over a period of the fundamental order of the corresponding drive signal (y) or the corresponding residual vibration or noise signal (e) as a determination value (W_H or E_H) and wherein the divergence determinator determines whether the higher order divergence of the control occurs according to whether a calculated result of the calculator is in excess of the threshold value.

8. An apparatus as claimed in claim 7, wherein the setter comprises a first setter arranged for setting a first threshold value (Wth) used in the determination of the divergence of the first divergence determinator and a second setter arranged for setting a second threshold value (Eth) used in the determination of the divergence of the second divergence determinator and wherein said first divergence determinator determines whether the higher order divergence of the control occurs according to whether the calculated result of the calculator on the drive signal is in excess of the first threshold value and said second divergence determinator determines whether the higher order divergence of the control occurs according to whether the calculated result of the calculator on the residual vibration signal as the determination value (W_H or E_H) is in excess of the second threshold value.

9. An apparatus as claimed in claim 8, wherein the first divergence determinator determines that the higher order divergence of the control occurs when the calculated result of the calculator on the drive signal as the determination value (W_H) is in excess of the first threshold value (Wth).

10. An apparatus as claimed in claim 9, wherein the second divergence determinator determines that the higher order divergence of the control occurs when the calculated result of the calculator on the residual vibrtion signal (E_H) is in excess of the second threshold value (Eth).

11. An apparatus as claimed in claim 10, wherein the control wave generating source comprises an electromagnetic actuator, installed within an active type engine mount which supports the engine on a vehicle body and being responsive to the drive signal for developing a predetermined magnetomotive force, and the residual wave detector comprises a weight sensor, installed within the active type engine mount and being responsive to a vibration exciting force transmitted from the engine via a supporting resilient member of the active type engine mount for generating and outputting the residual vibration signal (e).

12. An apparatus as claimed in claim 11, wherein the calculator calculates the determination value (W_H) used in the first divergence determinator as follows:

##EQU3## wherein W_k denotes the filter coefficient at the predetermined sampling period of k (k=0 to N2), N2 denotes an integer from which one is subtracted, the integer being a halved value of a number of times the drive signal is outputted (Ty) corresponding to a number of taps of the adaptive digital filter whose numerical values below a decimal point are under an omission of fractions.

13. An apparatus as claimed in claim 11, wherein the calculator calculates the determination value (E_H) used in the second divergence determinator as follows:

##EQU4##

14. An apparatus as claimed in claim 13, wherein a number of the filter coefficients (Wi) of the adaptive filter (W) is fourteen and wherein the determination value (W_H) calculated by the calculator and used in the first divergence determinator is expressed as:

space="preserve" listing-type="equation">W.sub.H =|W.sub.0 +W.sub.7 |+|W.sub.1 +W.sub.8 |+|W.sub.2 +W.sub.9 |+|W.sub.3 +W.sub.10 |+|W.sub.4 +W.sub.11 |+|W.sub.5 +W.sub.12 |+|W.sub.6 +W.sub.13 |.

15. An apparatus as claimed in claim 14, wherein the determination value (E_H) calculated by the calculator and used in the second divergence determinator is expressed as:

space="preserve" listing-type="equation">E.sub.H =|e(-6)+e(-13)|+|e(-5)+e(-12)|+.vertline.e(-4)+e(-11)|+|e(-3)+e(-10)|+|e(-2)+e(-9)|+|e(-1)+e(-8)|+|e(0)+e(-7).vertline..

16. An apparatus as claimed in claim 7, wherein the controller calculates an engine revolution speed (N) on the basis of a number of times (Ty) the drive signal is outputted and the predetermined sampling period and wherein the threshold value (Wth or Eth) is varied according to the engine revolution speed (N).

17. An apparatus as claimed in claim 7, wherein the pulse signal generator comprises a crank angle sensor, wherein the controller comprises another calculator arranged for calculating an engine revolution speed (N) on the basis of an output signal of the crank angle sensor and wherein the threshold value (Wth or Eth) is varied according to the engine revolution speed (N).

18. An apparatus as claimed in claim 7, which further comprises a gear shift position sensor arranged for detecting a gear shift position of an automatic power transmission mounted on the vehicle and wherein the threshold value (Wth or Eth) is varied according to the gear shift position of the automatic power transmission.

19. An apparatus as claimed in claim 16, which further comprises a gear shift position sensor arranged for detecting a gear shift position of an automatic power transmission mounted on the vehicle and wherein the threshold value (Wth or Eth) is varied according to the gear shift position of the automatic power transmission.

20. An apparatus as claimed in claim 7, which further comprises an engine intake negative pressure sensor arranged for detecting an engine intake negative pressure and wherein the threshold value (Wth or Eth) is varied according to the detected engine intake negative pressure.

21. An apparatus as claimed in claim 19, which further comprises an engine intake negative pressure sensor arranged for detecting an engine intake negative pressure and wherein the threshold value (Wth or Eth) is varied according to the detected engine intake negative pressure.

22. An apparatus as claimed in claim 7, which further comprises an accelerator opening angle sensor arranged for detecting an opening angle of an engine accelerator and wherein the threshold value (Wth or Eth) is varied according to the opening angle of the engine accelerator.

23. An apparatus as claimed in claim 21, which further comprises an accelerator opening angle sensor arranged for detecting an opening angle of an engine accelerator and wherein the threshold value (Wth or Eth) is varied according to the opening angle of the engine accelerator.

24. An apparatus as claimed in claim 6, wherein the predetermined extremely low speed value is approximately 5 km/h.

25. An apparatus as claimed in claim 11, wherein the adaptive algorithm of the controller comprises a synchronous-type Filtered-X LMS algorithm.

26. An apparatus as claimed in claim 25, wherein the filter coefficients (Wi, i=0, 1, 2, - - - , I-1, wherein I denotes the number of taps in the adaptive digital filter) of the adaptive digital filter are updated as follows:

space="preserve" listing-type="equation">Wi(n+1)=Wi(n)-μ

R.sup.T e(n),

wherein terms attached with (n) and (n+1) are values sampled at the predetermined sampling periods (n) and (n+1), respectively, μ

denotes a convergence coefficient, R^T denotes a reference signal used to update the filter coefficients and denotes a value as a result of filtering the reference signal (x) generated and outputted by the reference signal generator through a transfer function filter (C ) which is a model of a transfer function (C) between the electromagnetic actuator and the weight sensor.

27. An apparatus as claimed in claim 1, wherein the responsive to a determination of the divergence determinator that the higher order divergence occurs for resetting the filter coefficients of the adaptive digital filter to initial values so as to suppress the higher order divergence of the control.

28. An apparatus as claimed in claim 27, wherein the sampler comprises a sampling clock generator which generates and outputs a sampling clock (Cp) whenever the predetermined sampling period is passed.

29. A method for actively reducing a periodic vibration and/or noise developed on a periodic vibration and/or noise generating source and transmitted from the periodic vibration and/or noise generating source to an external therefrom, comprising the steps of:

a) providing an adaptive digital filter;

b) providing an adaptive algorithm;

c) updating sequentially filter coefficients of the adaptive digital filter so as to execute a reduction control for the periodic vibration or noise;

d) developing a residual wave signal representing a residual vibration or noise state of the external;

e) sampling two values at a predetermined sampling period which would cancel a fundamental order component of either an output signal of the adaptive digital filter or the residual wave signal if the two values were added together;

f) summing the two sampled values; and

g) determining whether a divergence of the reduction control occurs on the basis of the summed sampled values.

30. A method for actively reducing a periodic reducing a periodic wave developed on a periodic wave generating source and transmitted from the periodic wave generating source to an external therefrom, comprising the steps of:

a) developing a control wave to be interfered against a periodic wave developed on the periodic wave generating source;

b) developing a reference signal representing a developed condition of the periodic wave from the periodic wave generating source;

c) detecting a residual wave after the interference of the control wave developed at the step a) against the periodic wave developed on the periodic wave generating source;

d) outputting a residual wave signal representing the residual wave;

e) filtering the reference signal developed at the step b) through an adaptive digital filter to generate and output a drive signal so that the control wave is developed at the step a);

f) providing an adaptive algorithm in accordance with which filter coefficients of the adaptive digital filter are updated on the basis of the reference signal and the residual signal for a predetermined sampling period;

g) sampling at least one of either or both of the drive signal and the residual signal for a predetermined sampling period;

h) summing two sampled values of at least one of either or both of the drive signal outputted by the adaptive digital filter and the residual wave signal outputted at the step d); and

i) determining whether a higher divergence of a control over a transmission of the periodic wave from the periodic wave generating source toward an external therefrom occurs on the basis of the sum of the two sampled values of either or both of the drive signal and the residual wave signal, phases of the two sampled values being mutually deviated from each other by an approximately half period of a fundamental order component of the corresponding drive signal or residual wave signal.