JP2004270783A - Actuator drive controller of active type vibration-proof supporting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make an active type vibration-proof supporting device exhibit effective vibration proofing performance by minimizing noise effect on a signal indicating a vibration state of an engine. <P>SOLUTION: When an actuator of the active type vibration-proof supporting device is turned on based on a vibration waveform of the engine estimated from a crank pulse, the interval (t) between a crest P and a trough B of the vibration waveform of the engine is compared with 1/2 of the period T of the vibration waveform. When the deviation is large and 0.4 ≤t/T≤0.6 is not established, it is considered that a trough B lies in the center between two crests P and the operation of the actuator is controlled. Thus, even when the vibration waveform of the engine is extremely collapsed by a noise, the active type vibration-proof supporting device can be made to exhibit effective vibration proofing performance by minimizing the noise effect. The phase θ of a present time value of the vibration waveform of the engine is compared with phase θ of the previous time value. When the deviation exceeds a predetermined value, the operation of the actuator is controlled based on the phase θ of the previous time value. Therefore, the noise effect can be minimized. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention provides an elastic body that receives vibration of an engine, a liquid chamber in which the elastic body forms at least a part of a wall surface, a movable member that changes the volume of the liquid chamber, an actuator that drives the movable member by electromagnetic force, And control means for controlling the operation of the actuator based on the vibration waveform of the engine estimated from the crank pulse.
[0002]
[Prior art]
Such an active vibration isolating support device is known from the following patent documents.
[0003]
This active type anti-vibration support device changes a spring constant by applying a current to an actuator to vibrate a movable member, and a relationship between a peak current value and a phase of an applied current for setting the spring constant is determined in advance. It is stored as a map, and the peak current value and the phase of the current to be applied to the actuator are obtained from the map according to the engine speed so that the active vibration isolation support device is effective in various engine speed regions. It is designed to exhibit anti-vibration performance.
[0004]
[Patent Document]
JP-A-7-42783
[Problems to be solved by the invention]
By the way, when the control means of the actuator of the active vibration isolation support device estimates the vibration state (waveform and phase) of the engine from the crank pulse of the engine and controls the energization to the actuator based on the vibration state, Normally, the signal indicating the vibration state has a sine curve shape. However, if noise is added to the signal, the waveform or phase is disrupted. If the energization to the actuator is controlled based on the distorted waveform or phase, active protection is performed. There is a problem that the vibration support device cannot exhibit effective vibration isolation performance.
[0006]
The present invention has been made in view of the above circumstances, and has as its object to minimize the influence of noise on a signal indicating the vibration state of an engine, and to cause an active vibration isolator to exhibit effective vibration isolation performance. I do.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, according to the first aspect of the present invention, an elastic body receiving vibration of an engine, a liquid chamber in which the elastic body forms at least a part of a wall surface, and a volume of the liquid chamber are changed. Actuator drive control of an active vibration isolation support device comprising: a movable member to be driven; an actuator that drives the movable member with an electromagnetic force; and control means that controls the operation of the actuator based on a vibration waveform of the engine estimated from a crank pulse. In the device, the control means considers that there is a valley at the center of two adjacent peaks according to a result of comparing the interval between the peak and the valley of the vibration waveform of the engine with a half cycle of the vibration waveform, Alternatively, there is provided an actuator drive control device for an active vibration isolating support device, characterized in that the operation of the actuator is controlled assuming that there is a peak at the center of two adjacent valleys. It is.
[0008]
According to the above configuration, according to the result of comparing the interval between the peaks and valleys of the vibration waveform of the engine estimated from the crank pulse with the half cycle of the vibration waveform, it is considered that there is a valley at the center between two adjacent peaks. Assuming that there is a peak at the center of two adjacent valleys, the operation of the actuator is controlled, so that even if the engine vibration waveform is significantly distorted by noise, the effect of the noise is minimized. It is possible to suppress the active type anti-vibration support device and exhibit the effective anti-vibration performance.
[0009]
According to the invention described in claim 2, the elastic body which receives vibration of the engine, the liquid chamber in which the elastic body forms at least a part of the wall surface, the movable member which changes the volume of the liquid chamber, and the movable member An actuator driving control device of an active vibration isolation support device, comprising: an actuator that drives the actuator by an electromagnetic force; and a control unit that controls the operation of the actuator based on a vibration waveform of the engine estimated from a crank pulse. And actuating the actuator based on the phase of the previous value in accordance with the result of comparing the phase of the current value of the vibration waveform of the engine with the phase of the previous value. A control device is proposed.
[0010]
According to the above configuration, the operation of the actuator is controlled based on the phase of the previous value in accordance with the result of comparing the phase of the current value of the vibration waveform of the engine estimated from the crank pulse with the phase of the previous value. Even if the phase of the vibration waveform fluctuates significantly due to noise, the effect of the noise can be minimized, and the active vibration isolating support device can exhibit effective vibration isolating performance.
[0011]
The first elastic body 14 of the embodiment corresponds to the elastic body of the present invention, the first liquid chamber 24 of the embodiment corresponds to the liquid chamber of the present invention, and the electronic control unit U of the embodiment corresponds to the control of the present invention. Corresponding to the means.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described based on examples of the present invention shown in the accompanying drawings.
[0013]
1 to 6 show an embodiment of the present invention. FIG. 1 is a longitudinal sectional view of an active vibration isolating support device, FIG. 2 is a sectional view taken along line 2-2 of FIG. 1, and FIG. FIG. 4 is an enlarged view of a main part of FIG. 1, FIG. 5 is a flowchart showing a control method of the actuator, and FIG. 6 is a time chart showing a vibration waveform of the engine and a current applied to the actuator.
[0014]
The active vibration isolation support device M shown in FIGS. 1 to 4 is for elastically supporting an engine E of an automobile on a body frame F, and is a crank pulse output as the crankshaft of the engine E rotates. Is controlled by an electronic control unit U to which a crank pulse sensor S for detecting the pressure is detected. This crank pulse is output 24 times per rotation of the crankshaft, that is, once every 15 ° of the crank angle.
[0015]
The active vibration isolation support device M has a structure substantially symmetrical with respect to the axis L, and has an inner cylinder 12 welded to a plate-shaped mounting bracket 11 connected to the engine E, and an outer periphery of the inner cylinder 12. An outer cylinder 13 is provided coaxially. An upper end and a lower end of a first elastic body 14 formed of thick rubber are joined to the inner cylinder 12 and the outer cylinder 13 by vulcanization bonding. A disk-shaped first orifice forming member 15 having an opening 15b in the center, a second orifice forming member 16 formed in an annular shape with a gutter-shaped cross section having an open upper surface, and a gutter-like shape having an open upper surface And a third orifice forming member 17 formed in an annular shape having a cross section of 3 and are integrated by welding, and the outer peripheral portions of the first orifice forming member 15 and the second orifice forming member 16 are overlapped to form the outer cylinder. 13 is fixed to a caulking fixing portion 13a provided below.
[0016]
The outer periphery of the second elastic body 18 formed of a film-like rubber is fixed to the inner periphery of the third orifice forming member 17 by vulcanization adhesion, and is fixed to the inner periphery of the second elastic body 18 by vulcanization adhesion. The cap member 19 is fixed by press-fitting to a movable member 20 arranged on the axis L so as to be vertically movable. The outer periphery of the diaphragm 22 is fixed to a ring member 21 fixed to the caulking fixing portion 13a of the outer cylinder 13 by vulcanization bonding, and the cap member 23 fixed to the inner periphery of the diaphragm 22 by vulcanization bonding is movable. It is fixed to the member 20 by press fitting.
[0017]
Thus, a first liquid chamber 24 in which liquid is sealed is defined between the first elastic body 14 and the second elastic body 18, and a second liquid chamber 25 in which liquid is sealed between the second elastic body 18 and the diaphragm 22. Is partitioned. Then, the first liquid chamber 24 and the second liquid chamber 25 communicate with each other by an upper orifice 26 and a lower orifice 27 formed by the first to third orifice forming members 15, 16, 17.
[0018]
The upper orifice 26 is an annular passage formed between the first orifice forming member 15 and the second orifice forming member 16, and communicates with the first orifice forming member 15 on one side of a partition wall 26a provided in a part thereof. A hole 15a is formed, and a communication hole 16a is formed in the second orifice forming member 16 on the other side of the partition wall 26a. Accordingly, the upper orifice 26 is formed over a range of substantially one circumference from the communication hole 15a of the first orifice forming member 15 to the communication hole 16a of the second orifice forming member 16 (see FIG. 2).
[0019]
The lower orifice 27 is an annular passage formed between the second orifice forming member 16 and the third orifice forming member 17, and the lower orifice 27 is connected to the second orifice forming member 16 on one side of a partition wall 27a provided in a part thereof. A communication hole 16a is formed, and a communication hole 17a is formed in the third orifice forming member 17 on the other side of the partition wall 27a. Therefore, the lower orifice 27 is formed over a range of substantially one circumference from the communication hole 16a of the second orifice forming member 16 to the communication hole 17a of the third orifice forming member 17 (see FIG. 3).
[0020]
As described above, the first liquid chamber 24 and the second liquid chamber 25 communicate with each other through the upper orifice 26 and the lower orifice 27 connected in series.
[0021]
An annular mounting bracket 28 for fixing the active vibration isolation support device M to the vehicle body frame F is fixed to the caulking fixing portion 13a of the outer cylinder 13, and the movable member 20 is mounted on the lower surface of the mounting bracket 28. The actuator housing 30 which forms the outer shell of the actuator 29 for driving is welded.
[0022]
A yoke 32 is fixed to the actuator housing 30, and a coil 34 wound around a bobbin 33 is housed in a space surrounded by the actuator housing 30 and the yoke 32. A bottomed cylindrical bearing 36 is fitted to the cylindrical portion 32a of the yoke 32 fitted to the inner periphery of the annular coil 34. A disk-shaped armature 38 facing the upper surface of the coil 34 is slidably supported on the inner peripheral surface of the actuator housing 30, and a step 38 a formed on the inner periphery of the armature 38 is engaged with an upper portion of the bearing 36. Combine. The armature 38 is urged upward by a disc spring 42 disposed between the armature 38 and the upper surface of the bobbin 33, and is positioned by engaging with a locking portion 30 a provided on the actuator housing 30.
[0023]
A cylindrical slider 43 is slidably fitted on the inner periphery of the bearing 36, and a shaft portion 20 a extending downward from the movable member 20 loosely penetrates the upper bottom portion of the bearing 36 and is fixed inside the slider 43. Is connected to the boss 44. A coil spring 41 is disposed between the upper bottom of the bearing 36 and the slider 43, and the bearing 36 is urged upward by the coil spring 41, and the slider 43 is urged downward.
[0024]
When the coil 34 of the actuator 29 is in the demagnetized state, the resilient force of the coil spring 41 acts on the slider 43 slidably supported by the bearing 36 and is disposed between the slider 43 and the bottom surface of the yoke 32. The spring force of the coil spring 45 acts upward, and the slider 43 stops at a position where the spring forces of both the coil springs 41 and 45 are balanced. When the coil 34 is excited and the armature 38 is attracted downward from this state, the coil spring 41 is compressed by being pushed by the step portion 38a and sliding the bearing 36 downward. As a result, the elastic force of the coil spring 41 increases and the slider 43 descends while compressing the coil spring 45, so that the movable member 20 connected to the slider 43 via the boss 44 and the shaft portion 20a descends, The second elastic body 18 connected to the movable member 20 deforms downward, and the volume of the first liquid chamber 24 increases. Conversely, when the coil 34 is demagnetized, the movable member 20 rises, the second elastic body 18 is deformed upward, and the volume of the first liquid chamber 24 decreases.
[0025]
When low-frequency engine shake vibration occurs while the automobile is running, when the first elastic body 14 is deformed by the load input from the engine E and the volume of the first liquid chamber 24 changes, the upper orifice 26 The liquid flows between the first liquid chamber 24 and the second liquid chamber 25 connected via the lower orifice 27 and the first liquid chamber 24. As the volume of the first liquid chamber 24 increases or decreases, the volume of the second liquid chamber 25 decreases or expands accordingly. However, the change in the volume of the second liquid chamber 25 is absorbed by the elastic deformation of the diaphragm 22. At this time, since the shapes and dimensions of the upper orifice 26 and the lower orifice 27 and the spring constant of the first elastic body 14 are set so as to exhibit a low spring constant and a high damping force in the frequency region of the engine shake vibration, Vibration transmitted from the engine E to the vehicle body frame F can be effectively reduced.
[0026]
In the frequency range of the engine shake vibration, the actuator 29 is kept in an inactive state.
[0027]
When vibration having a frequency higher than that of the engine shake vibration, that is, idle vibration or muffled sound vibration caused by rotation of the crankshaft of the engine E occurs, the upper orifice 26 connecting the first liquid chamber 24 and the second liquid chamber 25. Since the liquid in the lower orifice 27 becomes a stick state and cannot exhibit the vibration-proof function, the actuator 29 is driven to exhibit the vibration-proof function.
[0028]
The electronic control unit U controls the energization of the coil 34 based on the signal from the crank pulse sensor S so that the actuator 29 can exhibit the anti-vibration function. The contents of this control will be specifically described based on the flowchart of FIG.
[0029]
First, in step S1, a crank pulse output from the crank pulse sensor S at every 15 ° of the crank angle is read, and in step S2, the read crank pulse is compared with a reference crank pulse (TDC signal of a specific cylinder) to obtain a crank. Calculate the pulse time interval. In the following step S3, the crank angle velocity ω is calculated by dividing the crank angle of 15 ° by the time interval of the crank pulse. In step S4, the crank angular velocity ω is processed by a low-pass filter to remove high-frequency components. To differentiate the crank angular velocity ω with time to calculate the crank angular acceleration dω / dt. In the following step S6, the torque Tq around the crankshaft of the engine E is defined as I, and the moment of inertia around the crankshaft of the engine E is defined as I.
Tq = I × dω / dt
Is calculated by This torque Tq becomes 0 assuming that the crankshaft is rotating at a constant angular velocity ω. However, in the expansion stroke, the angular velocity ω increases due to the acceleration of the piston, and in the compression stroke, the angular velocity ω decreases due to the deceleration of the piston. Since the crank angular acceleration dω / dt is generated, a torque Tq proportional to the crank angular acceleration dω / dt is generated.
[0030]
In a succeeding step S7, a change state of the torque with the passage of time is calculated, and in a step S8, a vibration waveform at a position of the active vibration isolation support device M that supports the engine E is calculated from the change state of the torque. As shown in FIG. 6A, generally, the vibration waveform is a sine curve waveform. In the following step S9, the phase θ of the vibration waveform is estimated. As shown in FIG. 6, the phase θ is defined by the crank angle from the reference crank pulse to the first peak P of the vibration waveform. In the following step S10, the cycle T of the vibration waveform is calculated, and in step S11, the time t from the peak P to the valley B of the vibration waveform is calculated.
[0031]
As is clear from FIG. 6, the period T of the vibration waveform is the time interval between two adjacent reference crank pulses. For example, in the four-cycle six-cylinder engine E, since the explosion is performed six times for two rotations of the crankshaft, the cycle T of the vibration waveform corresponds to the crank angle of 120 °. The time t is defined as a time interval from the first peak P to the next valley B of the vibration waveform after the reference crank pulse.
[0032]
FIG. 6A shows a normal vibration waveform which is not affected by noise, and the position of the valley B is substantially at the center between the two front and rear peaks P and P. During the period from the peak P to the valley B corresponding to the time t, the engine E is deflected downward by vibration, and the volume of the first liquid chamber 24 is reduced and the hydraulic pressure is increased. The armature 38 is attracted by excitation. As a result, the armature 38 moves downward together with the slider 43 and the movable member 20 while compressing the coil springs 41 and 45, and deforms the second elastic body 18 having an inner periphery connected to the movable member 20 downward. Accordingly, the volume of the first liquid chamber 24 is increased to suppress the increase in the hydraulic pressure. Therefore, the active vibration isolation support device M is an active support for preventing the downward load transmission from the engine E to the body frame F. Generate power.
[0033]
Then, during the period from the valley B to the next peak P, the engine E is deflected upward by vibration and the volume of the first liquid chamber 24 is increased and the hydraulic pressure is reduced, so that the coil 34 of the actuator 29 is demagnetized. The suction of the armature 38 is released. As a result, the armature 38 moves upward together with the slider 43 and the movable member 20 by the resilient force of the coil springs 41 and 45, and deforms the second elastic body 18 whose inner periphery is connected to the movable member 20 upward. As a result, the volume of the first liquid chamber 24 is reduced to suppress a decrease in the hydraulic pressure. Therefore, the active vibration isolation support device M is an active support for preventing the upward load transmission from the engine E to the body frame F. Generate power.
[0034]
However, even if the actual vibration waveform is as shown in FIG. 6A, the vibration waveform may be distorted as shown in FIG. 6B or FIG. 6C due to the influence of noise. At this time, if the coil 34 of the actuator 29 is excited during the period from the peak P to the valley B corresponding to the time t, the excitation period and the excitation timing change from the normal state shown in FIG. There is a possibility that the active vibration isolation support device M cannot exhibit effective vibration isolation performance. For example, in FIG. 6B, since the position of the valley B of the vibration waveform is shifted in the advance direction due to the influence of noise, the actuator 29 operates only in the first half of the original operation time, and in FIG. As a result, the position of the first peak P of the vibration waveform is shifted in the retard direction, so that the actuator 29 operates only in the latter half of the original operation time.
[0035]
Therefore, it is determined in step S12 whether the value of t / T is 0.4 or more and 0.6 or less. If the vibration waveform is normal without being affected by noise, the time t from the peak P to the valley B of the vibration waveform is about half of the period T, and the value of t / T is about 0.5. Therefore, if 0.4 ≦ t / T ≦ 0.6 holds, it is determined that the vibration waveform is within the normal range, and the vibration waveform is not corrected. On the other hand, if T <0.4 or T> 0.6 in step S12, it is determined that the vibration waveform is outside the normal range due to the influence of noise, and t is corrected to T / 2 in step S13. That is, assuming that the vibration waveform has a correct sine curve shape, correction is performed so that a valley B exists at the center between two adjacent peaks P, P.
[0036]
In the following step S14, the absolute value of the difference between the previous value and the current value of the phase θ estimated for each reference crank pulse is compared with a predetermined value. It is determined that the phase θ of the waveform is within the normal range, and the current value of the phase θ is adopted in step S15. On the other hand, if the absolute value of the difference between the two phases θ exceeds the predetermined value in step S14, it is determined in step S16 that the phase θ of the vibration waveform is outside the normal range, and the abnormal current value is discarded in step S16. Use the previous value that is normal.
[0037]
For example, assuming that the phase θ in FIG. 6A is the previous value and the phase θ in FIG. 6B is the current value, the difference between the two phases θ is zero, so the current value phase θ is adopted. If the phase θ in FIG. 6A is the previous value and the phase θ in FIG. 6C is the current value, the absolute value of the difference between the two phases θ exceeds the predetermined value. Is done.
[0038]
Then, in step S17, the application timing of the current to the coil 34 of the actuator 29 is determined based on the finally adopted vibration waveform and its phase θ. At this time, of course, the magnitude (duty ratio) of the applied current is controlled according to the amplitude (magnitude of vibration) of the vibration waveform.
[0039]
As described above, even if the vibration waveform and the phase θ of the engine E estimated from the crank pulse are affected by the noise, when the influence is large, the normal vibration waveform set in advance or the previous value of the normal phase is changed. By adopting it, it is possible to make the active vibration isolating support device M exhibit effective vibration isolating performance while minimizing the influence of noise.
[0040]
Although the embodiments of the present invention have been described in detail, various design changes can be made in the present invention without departing from the gist thereof.
[0041]
For example, in the embodiment, the control for compensating for both the collapse of the vibration waveform and the phase shift due to the noise is performed, but it is also possible to perform only one control.
[0042]
In the embodiment, the correction is performed such that the valley B exists at the center between the two adjacent peaks P and P. However, the correction is performed such that the peak P exists at the center between the two adjacent valleys B and B. Correction may be made to be considered.
[0043]
Further, in the embodiment, the phase θ of the vibration waveform is defined by the crank angle from the reference crank pulse to the first peak P, but it may be defined by the crank angle from the reference crank pulse to the first valley B.
[0044]
【The invention's effect】
As described above, according to the first aspect of the present invention, two adjacent two peaks and valleys of the engine vibration waveform estimated from the crank pulse are compared with the half cycle of the vibration waveform according to the result of the comparison. Controlling the operation of the actuator by assuming that there is a valley at the center of the mountain, or assuming that there is a mountain at the center of two adjacent valleys, when the vibration waveform of the engine is significantly distorted by noise However, the effect of the noise can be minimized, and the active vibration isolating support device can exhibit effective vibration isolating performance.
[0045]
According to the second aspect of the present invention, according to the result of comparing the phase of the current value of the vibration waveform of the engine estimated from the crank pulse with the phase of the previous value, the operation of the actuator is performed based on the phase of the previous value. Therefore, even if the phase of the vibration waveform of the engine fluctuates significantly due to noise, the effect of the noise can be minimized and the active vibration isolating support device can exhibit effective vibration isolating performance.
[Brief description of the drawings]
FIG. 1 is a longitudinal sectional view of an active vibration isolation support device. FIG. 2 is a sectional view taken along line 2-2 in FIG. 1. FIG. 3 is a sectional view taken along line 3-3 in FIG. 1. FIG. FIG. 5 is a flowchart showing a control method of the actuator. FIG. 6 is a time chart showing the vibration waveform of the engine and the current applied to the actuator.
E Engine U Electronic control unit (control means)
14 1st elastic body (elastic body)
20 movable member 24 first liquid chamber (liquid chamber)
29 Actuator

Claims (2)

An elastic body (14) that receives vibration of the engine (E);
A liquid chamber (24) in which the elastic body (14) forms at least a part of a wall surface;
A movable member (20) for changing the volume of the liquid chamber (24);
An actuator (29) for driving the movable member (20) by electromagnetic force;
Control means (U) for controlling the operation of the actuator (29) based on the vibration waveform of the engine (E) estimated from the crank pulse;
In an actuator drive control device of an active vibration isolation support device having
The control means (U) determines that there is a valley at the center of two adjacent peaks according to the result of comparing the interval between the peak and the valley of the vibration waveform of the engine (E) with the half cycle of the vibration waveform. An actuator drive control device for an active vibration isolation support device, characterized in that the operation of an actuator (29) is controlled by assuming that there is a peak at the center of two adjacent valleys. An elastic body (14) that receives vibration of the engine (E);
A liquid chamber (24) in which the elastic body (14) forms at least a part of a wall surface;
A movable member (20) for changing the volume of the liquid chamber (24);
An actuator (29) for driving the movable member (20) by electromagnetic force;
Control means (U) for controlling the operation of the actuator (29) based on the vibration waveform of the engine (E) estimated from the crank pulse;
In an actuator drive control device of an active vibration isolation support device having
The control means (U) controls the operation of the actuator (29) based on the previous value phase according to the result of comparing the current value phase of the vibration waveform of the engine (E) with the previous value phase. An actuator drive control device for an active vibration isolation support device, comprising:

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