JPH06110473A - Vibration reduction device for vehicles - Google Patents

Abstract

(57) [Abstract] [Purpose] When the vehicle vibration is reduced by generating vibration of the same amplitude in the opposite phase to the traveling vibration transmitted from the wheels to the vehicle body, the traveling vibration of the left, right, front and rear wheels in the control system is reduced. When the control signal for generating the vibration is generated based on the plurality of reference signals w1 to w4 regarding the information, the traveling vibration is effectively reduced without increasing the calculation amount. [Configuration] Vertical acceleration signals w1 to left and right front and rear wheels
Each weighting circuit 29a to 29d for giving a predetermined weight a1 to a4 to w4 and the adder 3 for adding the vertical acceleration signals a1.w1 to a4.w4 which have been given a predetermined weight
With 0 and.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle vibration reducing apparatus for reducing the running vibrations of the left and right front and rear wheels of a vehicle, and more particularly, to the same amplitude as the phase opposite to the vehicle vibration by an actuator separately provided with the running vibration. The present invention relates to an improvement of a vehicle which is excited to reduce vehicle vibration. In the present invention, the vibration includes not only pure vibration of the vehicle body but also noise.

[0002]

2. Description of the Related Art Conventionally, as this type of active vehicle vibration reducing apparatus, as disclosed in, for example, Japanese Patent Publication No. 1-501344, a reference signal corresponding to the vibration generated by an in-vehicle engine is generated. A reference signal generator, an adaptive filter that generates a control signal that has an opposite phase and the same amplitude as the reference signal generated by this reference generator, and the vehicle body that receives the control signal generated by this adaptive filter. Vibration generating means such as a vibrating speaker, vibration detecting means such as a microphone for detecting vibration of the vehicle body or air inside the vehicle, and the adaptive filter for minimizing vibration as an error signal detected by the vibration detecting means. LMS (Least Mean S
quare method (= least squares method) algorithm operation means is known.

That is, the reference signal generator detects an ignition pulse signal corresponding to engine vibration, and generates a reference signal as a digital signal from the ignition pulse signal. This reference signal is input to the adaptive filter, the gain and phase of the reference signal are adjusted in the adaptive filter, and the engine vibration and the vibration generated by the vibration generating means cancel each other at the position where the vibration detecting means is arranged. Such a control signal is generated, the control signal is output to the vibration generating means, and the vibration is output from the vibration generating means.

[0004]

By the way, in order to reduce the traveling vibration transmitted from the wheels to the vehicle body, information regarding the traveling vibration is required for the four wheels located on the left, right, front and rear. Therefore, in this case, at least four reference signals (12 reference signals if traveling vibration information in front, rear, left, right, and up and down directions for each wheel is required) are required, and each reference signal is calculated at the same rate. In that case, there is a problem that the amount of calculation is significantly increased and the calculation load of the control system is increased.

The present invention has been made in view of the above points. An object of the present invention is to improve the configuration of the control system so that the traveling vibration in each wheel can be greatly increased in the amount of calculation of signal processing. It is to try to reduce it effectively.

[0006]

In order to achieve the above-mentioned object, in the invention of claim 1, the traveling vibration information detected at a predetermined position in the vehicle compartment is effectively attached to each traveling vibration information by a predetermined weight. To be reduced to.

Specifically, in the present invention, as shown in FIG. 1, a plurality of first vibration detecting means 13 for detecting information on traveling vibration transmitted from the wheels to the vehicle body, and the traveling vibration in the vehicle compartment. Second vibration detecting means 1 for detecting at a predetermined position
0 and the outputs of the first and second vibration detecting means 13 and 10, and a control means 25 for generating a control signal for reducing the traveling vibration detected by the second vibration detecting means 10.
And a vibration reducing device for a vehicle, which includes a vibration generating unit 11 that generates a vibration based on the output of the control unit 25.

A plurality of weighting means for receiving the outputs of the respective first vibration detecting means 13 and applying a predetermined weight to the traveling vibration information detected by the first vibration detecting means 13 and inputting it to the control means 25. 29 is provided.

According to a second aspect of the present invention, in the first aspect of the present invention, each of the first vibration detecting means 13 is configured to detect the information about the traveling vibration transmitted from the front wheels on the left and right sides to the vehicle body. Then, on the basis of the traveling vibration information of the front wheels detected by the first vibration detecting means 13 in response to the output of the first vibration detecting means 13, the traveling vibration transmitted to the vehicle body from the rear wheels on the same left and right sides as the front wheels. Vibration information generating means 33 is provided for generating information regarding the information and inputting it to the weighting means 29.

In the invention of claim 3, the above-mentioned claim 1 or 2
In the present invention, there is provided an adding means 30 for receiving the output of each weighting means 29, adding together the traveling vibration information of each wheel weighted with a predetermined weight by the weighting means 29 and inputting to the control means 25. .

[0011]

With the above construction, the first aspect of the invention is the first aspect.
The traveling vibration information of the wheel is detected by the vibration detecting means 13, and the traveling vibration of the wheel is detected by the second vibration detecting means 10 at a predetermined position in the vehicle compartment. The output signals of the first and second vibration detecting means 13 and 10 are control means 25.
A control signal for reducing the traveling vibration detected by the second vibration detecting means 10 is generated.
This control signal is input to the vibration generating means 11 and vibration is generated by the vibration generating means 11, and this vibration and the traveling vibration detected by the first vibration detecting means 13 cancel each other out, whereby the second vibration is generated. The traveling vibration at the predetermined position in the vehicle compartment detected by the detection means 10 is reduced, and the effect of reducing the vehicle vibration is obtained.

At this time, the weighting means 29 assigns weights preset to the respective vibration information of the four wheels on the left, right, front and rear, based on the contribution rate to the traveling vibration detected at a predetermined position in the vehicle interior. wear. Generally, the running vibration of the front and rear wheels varies depending on the body rigidity of the vehicle, the suspension form, etc. For example, the running vibration is large when the suspension is a strut type and is small when the suspension is a multi-link type. Therefore, in the same vehicle type, based on the actual measurement result of the contribution rate of each wheel to the traveling vibration in the vehicle compartment, for example, the ratio of the traveling vibration information from the front wheels is set to be larger than that from the rear wheels. In addition, the weight to be given to each traveling vibration information can be determined in advance.

The traveling vibration information weighted by the weighting means 29 is input to the control means 25. In the control means 25, a control signal for reducing the traveling vibration detected by the second vibration detecting means is generated by calculation based on the traveling vibration information weighted with a predetermined weight.

According to the second aspect of the present invention, the information about the traveling vibration transmitted from the left and right front wheels to the vehicle body is detected by each of the first vibration detecting means 13, and the left and right front wheels of the first vibration detecting means 13 are detected. The vibration information generating means 33 that has received the vibration information generates traveling vibration information for the rear wheels on the same left and right sides as the front wheels from the traveling vibration information, and each traveling vibration information is input to each weighting means 29. In each weighting means 29, the first vibration detecting means 1
The vibration information of the left and right front wheels detected in 3 and the vibration information of the left and right rear wheels generated by the vibration information generating means 33 are respectively weighted.

According to the third aspect of the present invention, the traveling vibration information weighted with a predetermined weight by each weighting means 29 is input to the adding means 30, and the adding means 3 is added.
When the value is 0, the traveling vibration information is added and input to the control means 25. The control means 25 performs a calculation based on the traveling vibration information that has been added together to form a control signal.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings starting from FIG.

(Embodiment 1) In FIG. 2 showing the entire structure of a vehicle vibration reducing apparatus according to Embodiment 1, reference numeral 1 is a vehicle body, an engine room 2 is provided in a front portion thereof, and a front and rear central portion is provided in a front and rear central portion thereof. Each passenger compartment 3 is provided. In FIG. 2, 5 is a steering wheel located in the front part of the vehicle interior 3, 6 is a front seat, 7 is a rear seat, and 8 is an instrument panel at the front end of the vehicle interior 3.

At a predetermined position in the vehicle compartment 3, a plurality of microphones 10, 10, ... And a plurality of speakers 11, 1.
1, ... Are respectively arranged (in the following description, for simplification, the microphone 10 and the speaker 11 are provided).
Will be described below). The microphone 10 constitutes a second vibration detecting means for detecting the traveling vibration of the wheel at a predetermined position in the vehicle compartment 3, and for example, a headrest portion of the front seat 6 or a side of the rear seat 7 is a sensation for an occupant. It is placed in an important position for hearing. On the other hand, each speaker 11 constitutes vibration generating means for generating vibration in the vehicle interior 3, and vibrates the air in the vehicle interior 3.

In the portion of the vehicle body 1 where each suspension 12 for supporting the left and right front wheels is attached, that is, in the portion which receives the traveling vibration from the road surface of the vehicle, the acceleration for detecting the traveling vibration by the vertical acceleration of the portion. Sensor 1
3 are provided. The acceleration sensor 13 constitutes a first vibration detecting means for detecting traveling vibration transmitted from the wheels to the vehicle body 1. The output signal of the acceleration sensor 13 is input to the controller 16 together with the output signal of the microphone 10. The controller 16 basically controls the speaker 11 based on the vertical acceleration signals w1 to w4 as the traveling vibration information detected by the acceleration sensor 13 to reduce the vibration of the vehicle. There is.

The structure of the controller 16 is shown in FIG. In the figure, 17a to 17d are each acceleration sensor 1
The amplifiers 18a to 18d amplify the vertical acceleration signals w1 to w4 from the amplifier 3 with a set gain, and the amplifiers 17a to 17d.
Low-pass filters for filtering low-frequency components of the acceleration signals w1 to w4 amplified by, and 19a to 19d convert the analog-valued acceleration signals w1 to w4 filtered by the low-pass filters 18a to 18d into digital value signals w1 to w4. It is an A / D converter for conversion. A reference numeral 20 denotes a mixer which adds a predetermined weight to each of the acceleration signals w1 to w4 from the A / D converters 19a to 19d, adds the acceleration signals w1 to w4, and outputs a reference signal r relating to traveling vibration. Further, 21 is an amplifier for amplifying the error signal m from the microphone 10 with a set gain, 22 is a low-pass filter for filtering low-frequency components of the error signal m amplified by the amplifier 21, 23
Is an A / D converter for converting the error signal m having an analog value filtered by the low-pass filter 22 into a signal m having a digital value. 25 is the reference signal r from the mixer 20 and the error signal m from the A / D converter 23.
Is input to each of the control arithmetic units, and the control arithmetic unit 2
Reference numeral 5 constitutes a control means for generating a control signal s for driving and controlling the speaker 11 so as to reduce the vibration detected by the microphone 10. Reference numeral 26 is a D / A converter for converting the control signal s generated by the control operation unit 25 from a digital value to an analog value, and 27 is a low-frequency component of the control signal s from the D / A converter 26. Is a low-pass filter, and 28 is an amplifier that amplifies the control signal s filtered by the low-pass filter 27 with a set gain. The control signal s amplified by the amplifier 28 is the speaker 1
It is output to 1.

The control calculator 25 uses an LMS adaptive algorithm as an algorithm for generating the control signal s. FIG. 4 shows the internal configuration of the control arithmetic unit 25 using the LMS adaptive algorithm. In the figure, reference numeral 36 denotes a digital filter. The digital filter 36 outputs a control signal s from the control calculation unit 25, and then the speaker 11 is driven and controlled by the control signal s to change the traveling vibration. Is detected by the microphone 10 and the error signal m is detected by the control calculator 25.
The transfer characteristics are modeled based on actual measurement results until the input. Reference numeral 38 is a convergence coefficient calculation circuit, and the convergence coefficient calculation circuit 38 responds to the error signal m from the microphone 10 by an adaptive filter 42 described next.
The convergence coefficient α · e for rewriting the coefficient of is calculated.
40 is a multiplier for multiplying the output value R of the digital filter 36 by the convergence coefficient α · e of the convergence coefficient calculation circuit 38, 4
Reference numeral 2 denotes an adaptive filter, which is based on the output value α · e · R of each output of the multiplier 40, and a filter coefficient fj (0 ≦ j ≦
J) is sequentially updated, and a control signal s having the same amplitude as that of the reference signal r is output based on the updated filter coefficient fj.

Here, the instantaneous value x at a certain time n is x (n)
The vector X (n) of the reference signal r is represented by the vector X (n) = [x (n), x (n-1), ..., X (nJ)] ^T , and the vector F of the adaptive filter 42 is represented by , Vector F = [f0, f1, ..., fJ] ^T , and the speaker 1 is set in the digital filter 36.
When the vector H of the transfer characteristic model between the microphone 1 and the microphone 10 is represented by the vector H = [h0, h1, ..., hI] ^T , the instantaneous value y (n) of the control signal s to the speaker 11 is represented.
Is

[Equation 1] It is represented by.

On the other hand, the updating (optimization) of the adaptive filter 42 at a certain time n is performed by setting the instantaneous value e of the error signal m from the microphone 10 to e (n).

[Equation 2] Done in.

Next, the mixer 2 which is a feature of the present invention.
0 will be described with reference to FIG. The mixer 20 receives the acceleration signals w1 to w4 and receives the acceleration signals w
Weighting circuits 29a to 29d for giving predetermined weights a1 to a4 to 1 to w4, and these weighting circuits 29a to 29d
And an adder 30 for adding the acceleration signals a1.w1 to a4.w4 that have been subjected to the predetermined weighting. The weighting circuits 29a to 29d constitute a weighting means for giving a predetermined weight to the traveling vibration information of each wheel detected by the acceleration sensor 13.
The weighting performed here is such that the contribution ratios based on the measurement results to the traveling vibration at the predetermined positions in the vehicle interior 3 by the left and right wheels are set as the predetermined weights a1 to a4. The output value x (n) of the adder 30 is w1 (n) to w4 (n), where w1 (n) to w4 (n) are the instantaneous values of the acceleration signals w1 to w4 at a certain time n.

[Equation 3] Becomes

Therefore, in this embodiment, the vertical acceleration signals w1 to w4 of the wheels detected by the acceleration sensors 13 are used.
Is input to the controller 16, a reference signal r corresponding to traveling vibration is generated in the mixer 20 and input to the control calculation unit 25. Further, the traveling vibration at a predetermined position in the vehicle compartment 3 is detected by the microphone 10 in the vehicle compartment 3, and the error signal m of the microphone 10 is also input to the control calculation unit 25. The control calculation unit 25 generates a control signal s for reducing the traveling vibration detected by the microphone 10, the control signal s is output to the speaker 11, and the speaker 11 vibrates. And the traveling vibration cancel each other out, so that the traveling vibration detected by the microphone 10 at a predetermined position in the vehicle interior 3 is reduced.

At this time, the weighting circuits 29a to 29d.
Is each acceleration signal w1 for the four wheels on the left, right, front and rear.
The weights a1 to a4 set in advance based on the contribution rate of the traveling vibration in the vehicle interior 3 are attached to w4. Generally, the front and rear running vibrations of the wheels differ depending on the body rigidity of the vehicle, the suspension form, and the like. For example, when the suspension is a strut type, the running vibration is large, and when the suspension is a multi-link type, the running vibration is small. Therefore, in the same vehicle type, for example, the ratio of the traveling vibration information from the front wheels is made larger than that from the rear wheels based on the actual measurement result of the contribution ratio of each wheel to the traveling vibration in the vehicle interior 3. like,
The weights a1 to a4 to be given to the acceleration signals w1 to w4 can be determined in advance.

The acceleration signals a1.w1 to a4.w4 subjected to predetermined weighting by the weighting circuit 29 are input to the adder 30, added by the adder 30, and output to the control calculator 25. In the control calculator 25,
The control signal s for reducing the running vibration detected by the speaker 11 is not the calculation based on the individual acceleration signals w1 to w4, but the added reference signal r
It is generated by a calculation based on.

As a result, although the controller 16 receives the vertical acceleration signals w1 to w4 for the four wheels, the control signal s is generated by the calculation based on one reference signal r. The increase is suppressed.

(Embodiment 2) FIGS. 6 to 8 show Embodiment 2 of the present invention, in which the same parts as those in Embodiment 1 are designated by the same reference numerals and their description is omitted.

In this embodiment, an acceleration sensor 13 is attached only to the suspensions 12 on the left and right front wheels, and a wheel speed sensor 31 for detecting the vehicle speed based on the rotational speed of the wheel is attached to one of the front wheels. The output signal of the sensor 31 is input to the controller 16 together with the output signals of the acceleration sensor 13 and the microphone 10.

The structure of the controller 16 is shown in FIG. In the figure, 17a and 17b are vertical acceleration signals w1 from the acceleration sensor 13 as traveling vibration information.
Amplifiers for amplifying w2 with a set gain, 18a, 18b are acceleration signals w1, amplified by the amplifiers 17a, 17b.
low-pass filter for filtering low-frequency component of w2, 19
Reference numerals a and 19b are A / D converters for converting the acceleration signals w1 and w2 of analog values filtered by the low-pass filters 18a and 18b into signals w1 and w2 of digital values. Reference numeral 32 denotes a vehicle speed measuring circuit that receives the output of the wheel speed sensor 31 and measures the vehicle speed from the rotation speed of the wheel detected by the wheel speed sensor 31. Reference numeral 25 denotes a reference signal r from the mixer 20 which will be described later, and the A / D converter 2
3 is a control calculation unit to which the error signal m from the vehicle 3 and the vehicle speed signal t from the vehicle speed measuring circuit 32 are respectively input.

As shown in FIG. 8, the mixer 20 receives the acceleration signals w1 and w2 and receives the acceleration signals w1 and w2.
A weighting circuit 29 for assigning predetermined weights a1 and a2 to 2
a, 29b and acceleration signals w1, w for the left and right front wheels
2 and delays the acceleration signals w1 and w2 by a predetermined time to generate vertical acceleration signals w3 and w4 for the left and right rear wheels, and delay circuits 33a and 33b, and outputs from the delay circuits 33a and 33b. Weighting circuits 29c and 29d for giving predetermined weights a3 and a4 to the rear wheel acceleration signals w3 and w4, and the weighting circuits 29a to 29 described above.
An adder 3 that receives the output of d and adds the values of the acceleration signals a1.w1 to a4
0 and are provided.

The delay amount Δt by the delay circuits 33a and 33b is Δt = WB / v [sec] (where WB: wheel base [m], v: vehicle speed [m /
sec]), and the delay sample amount Δn with f as the sampling frequency is Δn = int (Δt / f).

The output value x (n) from the adder 30 at time n is x (n) = a1w1 (n) + a2w2 (n) + a3w1 (n-Δn) + a4 It becomes w2 (n-Δn).

Therefore, according to this embodiment, the acceleration sensor 13 detects the vertical traveling vibrations transmitted from the left and right front wheels to the vehicle body, and the vertical acceleration signals for the left and right front wheels of the acceleration sensor 13 are detected. The delay circuits 33a and 33b receiving w1 and w2 respectively generate acceleration signals w3 and w4 for the rear wheels on the same left and right sides as the front wheels from the acceleration signals w1 and w2, respectively, and weight the acceleration signals w3 and w4, respectively. Circuit 2
It is input to 9c and 29d. Each weighting means 29a-2
In 9d, the acceleration signals w1 and w2 of the left and right front wheels detected by the acceleration sensor 13 and the delay circuit 33a,
Left and right rear wheel acceleration signals w3 and w4 generated at 33b.
Are weighted respectively.

Specifically, the delay circuits 3 are delayed by delaying the acceleration signals w1 and w2 for the left and right front wheels output from the acceleration sensor 13 by a predetermined time Δt.
Acceleration signals w3 for the left and right rear wheels at 3a and 33b.
w4 is generated.

As a result, substantially the same effect as that of the first embodiment can be obtained, and the acceleration sensor 13 for the rear wheels can be eliminated.

In each of the above embodiments, the vibration generating means is the speaker 11, but other than this, for example, by actively vibrating the suspension with an actuator,
It is also possible to reduce traveling vibration.

In each of the above embodiments, the control signal is generated based on the LMS algorithm, but it may be based on any other algorithm.

In the above embodiment, the left and right running vibrations of the wheels are not particularly mentioned. However, since the left and right wheels tend to have large vibrations on the side where the shared load is light, it depends on the seating position of the occupant. Alternatively, the left and right weights may be different.

Further, in the above embodiment, the vertical acceleration of the wheel is used as the traveling vibration information of the wheel, but the lateral acceleration and the longitudinal acceleration may be added or replaced depending on the wheel.

[0042]

As described above, according to the first aspect of the present invention, a plurality of traveling vibration information are given predetermined weights respectively, and the traveling vibration information is given a predetermined weight. Since the calculation for generating the control signal is performed, it is possible to effectively reduce the traveling vibration while reducing the calculation amount.

According to the second aspect of the present invention, the running vibration information of the left and right rear wheels is generated based on the running vibration information of the left and right front wheels, so that the effect of reducing the running vibration is not impaired. The first vibration detecting means for detecting the traveling vibration information of the wheel can be omitted, and the number of parts can be reduced.

According to the third aspect of the present invention, the traveling vibration information having been subjected to the predetermined weighting is added to form one traveling vibration information, and the calculation for generating the control signal is performed based on the traveling vibration information. By doing so, it is possible to significantly reduce the amount of calculation without impairing the effect of reducing the traveling vibration.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of the present invention.

FIG. 2 is a schematic diagram showing an overall configuration of a vehicle vibration reduction device according to a first embodiment.

FIG. 3 is a block diagram showing a configuration of a controller.

FIG. 4 is a block diagram showing a configuration of a control calculation unit.

FIG. 5 is a block diagram showing a configuration of a mixer.

FIG. 6 is a schematic diagram showing an overall configuration of a vehicle vibration reduction device according to a second embodiment.

FIG. 7 is a block diagram showing a configuration of a controller.

FIG. 8 is a block diagram showing a configuration of a mixer.

[Explanation of symbols]

 3 Car Room 10 Microphone (Second Vibration Detection Means) 11 Speaker (Vibration Generation Means) 13 Acceleration Sensor (First Vibration Detection Means) 25 Control Calculation Unit (Control Means) 29 Weighting Circuit (Weighting Means) 30 Adder (Addition) Means) 33 delay circuit (vibration information generating means) w1 to w4 vertical acceleration signal (running vibration information) a1 to a4 weight s control signal

Claims (3)

[Claims] 1. A plurality of first vibration detecting means for detecting information on traveling vibration transmitted from a wheel to a vehicle body, a second vibration detecting means for detecting the traveling vibration at a predetermined position in a vehicle compartment, Control means for receiving the outputs of the first and second vibration detection means and generating a control signal for reducing the traveling vibration detected by the second vibration detection means; and a vibration for generating vibration based on the output of the control means. In a vehicle vibration reduction device including a generation unit, the output of each of the first vibration detection units is received, and the traveling vibration information detected by the first vibration detection unit is weighted with a predetermined weight and input to the control unit. A vibration reducing device for a vehicle, comprising: 2. The vibration reducing device for a vehicle according to claim 1, wherein the first vibration detecting means is configured to detect information about traveling vibration transmitted from the front wheels on the left and right sides to the vehicle body, respectively. On the basis of the traveling vibration information of the front wheels detected by the first vibration detecting means in response to the output of the detecting means, the weighting means for generating information on the traveling vibration transmitted from the rear wheels on the same left and right sides as the front wheels to the vehicle body. A vibration reduction device for a vehicle, characterized in that a vibration information generation means for inputting to the vehicle is provided. 3. The vibration reducing device for a vehicle according to claim 1, wherein the output of the weighting means is received, and the traveling vibration information of each wheel weighted with a predetermined weight by the weighting means is added. A vibration reduction device for a vehicle, comprising addition means for inputting to a control means.