Active vibration reducing control apparatus and method applicable to vehicular active engine mount

• US 6,256,545 B1
• Filed: 06/12/1998
• Issued: 07/03/2001
• Est. Priority Date: 06/13/1997
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kimura, Takeshi, Satoh, Shigeki
• Primary Examiner(s): Etienne, Ario
• Assistant Examiner(s): Backer, Firmin
• Application Number:
  US09/096,191
• Time in Patent Office: 1,117 Days
• Field of Search: 700/28, 700/280, 700/279, 700/188, 700/191, 702/56, 702/191, 702/192-195, 381/71.4, 381/71.7, 381/71.9, 381/71.12
• US Class Current: 700/28
• CPC Class Codes: F16F 13/26 characterised by adjusting or regulating devices responsive to exterior conditions F16F13/101 takes precedence
• 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

Abstract

In apparatus and method for actively reducing a vibration developed from a vibration source applicable to a vehicular active engine mount, an identification signal supplier is provided for previously supplying each of identification signals in sinusoidal waveforms to a control vibration source, a response signal reader is provided for reading a residual vibration signal when a control vibration according to each of the identification signals is developed from the control vibration source, a transfer function identifier is provided for identifying the transfer function on the basis of the residual vibration signal read by the response signal reader; and a frequency selector for selecting one by one frequencies of the identification signals in the sinusoidal waveforms, the frequency selector selecting the frequencies of the respective identification signals in the sinusoidal waveforms so that a frequency interval between mutually adjacent selected frequencies in a particular frequency band is shorter than that in any other frequency bands. In addition, a phase lag providing block and/or a gain characteristic corrector is provided.

Claims

1. An adaptive control apparatus comprising:

a vibration source;

a control vibration source which is enabled to develop a control vibration to be interfered against a vibration developed form the vibration source;

a reference signal generator for detecting a vibration developed condition of the vibration source and outputting the vibration developed condition indicative signal as a reference signal;

a residual vibration detector for detecting a residual vibration signal after the interference of the control vibration against the vibration;

an active vibration controller for driving the control vibration source so as to reduce the vibration using a control algorithm including a transfer function between the control vibration source and the residual vibration detector based on the reference signal and the residual vibration signal;

an identification signal supplier for supplying each of identification signals in sinusoidal waveforms to the control vibration source;

a response signal reader for reading the residual vibration signal when the control vibration according to each of the identification signals is developed form the control vibration source in synchronization with a sampling clock;

a transfer function identifier for identifying the transfer function based on the residual vibration signal read by the response signal reader; and

a frequency selector for selecting the one by one frequencies of the identification signals in the sinusoidal waveforms, the frequency selector selecting the frequencies of the respective identification signals in the sinusoidal waveforms so that a frequency interval between mutually adjacent selected frequencies in particular frequency band is shorter than that in any other frequency bands.

2. An adaptive control apparatus as claimed in claim 1, wherein the particular frequency band is a frequency band in which a resonance phenomenon continuously appears on a controlled object including the vibration source of the apparatus.

3. An adaptive control apparatus as claimed in claim 1, wherein the transfer function identifier includes:

a Fourier transform calculator for performing a Fourier transform for the residual vibration signal read by the response signal reader to derive frequency components corresponding to the frequencies of the respective identification signals;

an interpolation calculator for performing an interpolation based on the respective frequency components so that the frequency intervals of the respective frequency components derived by the Fourier transform calculator becomes uniform; and

an inverse Fourier transform calculator for performing an inverse Fourier transform for a synthesized frequency component for the respective frequency interval uniformed frequency components by means of the interpolation calculator to derive an impulse response as the transfer function.

4. An adaptive control apparatus as claimed in claim 1, which further comprises a phase lag providing block for providing a phase lag corresponding to a time width half a period of the sampling clock for the transfer function to be derived by the transfer function identifier.

5. An adaptive control apparatus as claimed in claim 4, wherein the phase lag providing block delays the residual vibration signal read by the response signal reader by a half period (To/2) of the sampling clock so as to provide the phase lag for the transfer function.

6. An adaptive control apparatus as claimed in claim 4, wherein the transfer function identifier comprises:

a Fourier transform calculator for performing a Fourier transform for the residual vibration signal read by the response signal reader to derive frequency components corresponding to the frequencies of the respective identification signals; and

an inverse Fourier transform calculator for performing an inverse Fourier transform for a synthesized frequency components of the respective frequency components derived by the Fourier transform calculator and wherein the phase lag providing block provides the phase lag for a calculation result of the Fourier transform calculator.

7. An adaptive control apparatus as claimed in claim 4, wherein the transfer function identifier derives a discrete impulse response quantitized at the period of the sampling lock and the phase lag providing block delays the discrete impulse response by a half tap so as to provide the phase lag for the transfer function.

8. An adaptive control apparatus as claimed in claim 1, which further comprises a phase lag providing block for previously providing a phase lag corresponding to a time width half a period of the sampling clock for the respective identification signals in the sinusoidal waveforms.

9. An adaptive control apparatus as claimed in claim 1, wherein the transfer function identifier derives once the impulse response in a discrete form quantitized by a predetermined time interval which is shorter than a period of the sampling clock, averages each numerical value of the pulse response in the discrete form for each period of the sampling clock to generate a time series of the impulse response, and derives the time series of the impulse response in which zero is added to a head thereof as a finally derived impulse response.

10. An adaptive control apparatus as claimed in claim 9, wherein the predetermined time interval is a time width corresponding to 1n (n denotes an arbitrary integer equal to 2 or more) the period of the sampling clock.

11. An adaptive control apparatus as claimed in claim 1, which further comprises a gain characteristic corrector for correcting a gain characteristic of the transfer function to be derived by the transfer function identifier on the basis of a period of the sampling clock.

12. An adaptive control apparatus as claimed in claim 11, wherein the gain characteristic corrector reduces an amplitude of the residual vibration signal read by the response signal reader in such a way that as the frequency of each identification signal becomes high, a reduction width for the amplitude of the residual vibration signal becomes wide.

13. An adaptive control apparatus as claimed in claim 11, wherein the transfer function identifier comprises:

a Fourier transform calculator for performing a Fourier transform for the residual vibration signal read by the response signal reader to derive frequency components corresponding to the frequencies of the respective identification signals; and

an inverse Fourier transform calculator for performing an inverse Fourier transform for a synthesized frequency component of the respective frequency components derived by the Fourier transform calculator and wherein the gain characteristic corrector reduces a calculation width of the Fourier transform calculator in such a way that as the frequency of each identification signal becomes high, a reduction width for the calculation result of the Fourier transform calculator becomes wide.

14. An adaptive control apparatus as claimed in claim 4, which further comprises a gain characteristic corrector for correcting a gain characteristic of the transfer function to be derived by the transfer function identifier on the basis of the period of the sampling clock.

15. An adaptive control apparatus as claimed in claim 1, which further comprises an amplitude corrector for correcting an amplitude of each identification signal on the basis of a period of the sampling clock.

16. An adaptive control apparatus as claimed in claim 15, wherein the amplitude of each identification signal becomes small as the frequency of each identification signal becomes high.

17. An adaptive control apparatus as claimed in claim 6, wherein the phase lag providing block provides the phase lag (θ

) for a read part (A) and an imaginary part (B) of the freuqncy component for each frequency of the identification signals derived by the Fourier transform calculator in the following matrix;

$\left[\begin{array}{c}{A}^{\mathrm{\prime <br><br>}}\\ B^{\mathrm{\prime <br><br>}}\end{array}\right]=\left[\begin{array}{cc}\cos <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\theta <br><br>}& -\sin <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\theta <br><br>}\\ \sin <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\theta <br><br>}& \cos <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\theta <br><br>}\end{array}\right]<br><br>\text{\hspace{1em}<br><br>}\left[\begin{array}{c}A\\ B\end{array}\right]$

and wherein the phase lag (θ

) becomes large as the frequency becomes high.

18. An adaptive control apparatus as claimed in claim 1, wherein the vibration source is a vehicular engine, the identification signal supplier supplies each of the identification signals as the sinusoidal waveforms to the control vibration source when a switch is turned on, the control vibration source comprises an active engine mount, the particular frequency band ranges from a minimum limit f_U to a maximum limit f_L, f_U being set to 20 Hz and f_L being set to 80 Hz, the frequency (fo) of each identification signal being increased from a minimum value fmin (fmin=10 Hz) to the maximum limit (fmax) by a predetemined increment (Δ

f) and being increased from f_U to F_L by a half of the predetermined increment (Δ

f/2), and being increased from above f_U to a maximum value fmax (fmax=100 Hz) by the predetermined increment (Δ

f), and the identified transfer function C is substituted into a transfer function filter (C⁻

) for he vibration reduction control purpose.

19. An adaptive control apparatus comprising:

a vibration source;

a control vibration source which is enabled to develop a control vibration to be interfered against a vibration developed from the vibrations source;

a reference signal generator for detecting a vibration developed condition of the vibration source and outputting the vibration developed condition indicative signal as a reference signal;

a residual vibration detector for detecting a residual vibration signal after the interference of the control vibration against the vibration;

an active vibration controller for driving the control vibration source so as to reduce the vibration using a control algorithm including a transfer function between the control vibration source and the residual vibration detector based on the reference signal and the residual vibration signal;

an identification signal supplier for supplying an identification signal in sinusoidal waveforms whose frequency is chargeable to the control vibration source;

a response signal reader for reading the residual vibration signal when the control vibration according to each of the identification signals is developed from the control vibration source in synchronization with a sampling clock;

a transfer function identifier for identifying the transfer function based on the residual vibration signal rad by the response signal reader; and

a frequency selector for selecting he frequency of the frequency changeable identification signal in he sinusoidal waveform at a first predetermined interval of frequency when the frequency of the identification signal falls in a particular frequency band and at a second predetermined interval of frequency when the frequency falls in any other frequency bands than the particular frequency band, the first predetermined interval of frequency being shorter than the second predetermined interval of frequency.

20. An adaptive control apparatus comprising:

a vibration source;

a control vibration source means for developing a control vibration to be interfered against a vibration developed from the vibration source;

a reference signal generating means for detecting a vibration developed condition of the vibration source and outputting the vibration developed condition indicative signal as a reference signal;

a residual vibration detecting means for detecting a residual vibration signal after the interference of the control vibration against the vibration;

an active vibration controlling means for driving the control vibration source means so as to reduce the vibration using a control algorithm including a transfer unction between the control vibration source means and the residual vibration detecting means based on the reference signal and the residual vibration signal;

an identification signal supplying means for supplying each of identification signals in sinusoidal waveforms to the control vibration source means;

a response signal reading means for reading the residual vibration signal when the control vibration according to each of the identification signals is developed from the control vibration source means in synchronization with a sampling clock;

a transfer function identifier for identifying the transfer function based on the residual vibration signal red by the response signal reader; and

a frequency selecting means for selecting one by one frequencies of the identification signals in the sinusoidal waveforms, the frequency selecting means selecting the frequencies of the respective identifications signals in the sinusoidal waveforms so that a frequency interval between mutually adjacent selected frequencies in a particular frequency band is sorter than that in any other frequency bands.

21. A method for actively controlling a reduction of a vibration developed and transmitted from a vibration source, comprising the steps of

providing a control vibration source which is enabled to develop a control vibration to be interfered against the vibration developed form the vibration source;

detecting a vibration developed condition of the vibration source and outputting the vibration developed condition indicative signal as a reference signal;

detecting a residual vibration signal after the interference of the control virbration against the vibration;

driving the control vibration source so as to reduce the vibration using a control algorithm including a transfer function between the control vibration source and the residual vibration detector based on the reference signal and the residual vibration signal;

supplying each of identification signals in sinusoidal waveforms to the control vibration source;

reading the residual vibration signal when the control vibration according to each of the identification signals is developed form the control vibration source in synchronization with a sampling clock,

identifying the transfer function based on the residual vibration signal read at the previous reading step; and

selecting one by one frequencies of the identifications signals in the sinusoidal waveforms, the selecting step selecting the frequencies of the respective identification signals in the sinusoidal waveforms so that a frequency interval between mutually adjacent selected frequencies in a particular frequency band is shorter than that in any other frequency bands,

a vibration source;

a control vibration source means for developing a control vibration to be interfered against a vibration developed from the vibration source;

a reference signal generating means for detecting a vibration developed condition of the vibration source and outputting the vibration developed condition indicative signal as a reference signal;

a residual vibration detecting means for detecting a residual vibration signal after the interference of the control vibration against the vibration;

an active vibration controlling means for driving the control vibration source means so as to reduce the vibration using a control algorithm including a transfer function between the control vibration source means and he residual vibration detecting means based on the reference signal and the residual vibration signal;

an identification signal supplying means for supplying each of identification signals in sinusoidal waveforms to the control vibration source means;

a response signal reading means for reading the residual vibration signal when the control vibration according to each of the identification signals is developed form the control vibration source means in synchronization with a sampling clock;

a transfer function identifier for identifying the transfer function based on the residual vibration signal read by the response signal reader; and

a frequency selecting means for selecting one by one frequencies of the identification signals in the sinusoidal waveforms, the frequency selecting means selecting the frequencies of the respective identification signals in the sinusoidal waveforms so that a frequency interval between mutually adjacent selected frequencies in a particular frequency band is shorter than that in nay other frequency bands.