JP3355706B2 - Adaptive control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention aims to reduce noise and vibration by generating a control wave that interferes with unpleasant waves such as noise and vibration transmitted from a noise source and a vibration source using an adaptive algorithm. The present invention relates to an adaptive control device, in particular, capable of reliably exerting a reduction effect on various noises and vibrations in a wide frequency band.

[0002]

2. Description of the Related Art As a conventional adaptive control device, for example,
British Patent No. 2149614 and Japanese Patent Publication No. 1-501344
There is what was described in the issue. These conventional devices are active noise reduction devices applied to the cabin of an aircraft or a similar closed space, and a single noise source such as an engine located outside the closed space has a fundamental frequency f ₀ and Its harmonic f ₁
Ｆf _n作 動_n騒 音 条件 条件 ｆ ｆ ｆ.

[0003] More specifically, includes a microphone for detecting a plurality of the installed sound pressure to a location within the closed space, and a plurality of loudspeakers for generating a control sound to the closed space, the frequency f ₀ of the noise source - Based on the f _n components, the frequencies f ₀ to
The loudspeaker is driven by a signal having a phase opposite to that of the f _n component,
Thus, a control sound having a phase opposite to that of the noise transmitted to the closed space is generated from the loudspeaker to cancel the noise.

[0004] As a method for generating a control sound emitted from a loudspeaker, PROCEEDINGS OF THE IEEE, VOL.
63 PAGE 1692, 1975, “ADAPTIVE NOISE CANSELLATION:
PRINCIPLES AND APPLICATIONS ”
DROW LMS 'algorithm is applied to multiple channels. The contents are described in a paper by the inventor of the above patent, “A MULTIPLE ERROR LMS ALGORITHM AND
ITS APPLICATION TOTHE ACTIVE CONTROL OF SOUND AND
VIBRATION ”, IEEE TRANS.ACOUST., SPEECH, SIGNAL PRO
CESSING, VOL. ASSP-35, PP. 1423-1434, 1987.

That is, the LMS algorithm is one of suitable algorithms for updating the filter coefficients of the adaptive digital filter, and is, for example, a so-called Filter.
In the ed-X LMS algorithm, a transfer function filter that models a transfer function from a loudspeaker to a microphone is set for all combinations of loudspeakers and microphones, and a reference signal indicating a noise generation state of a noise source is set. Update the filter coefficients of the adaptive digital filters with variable filter coefficients provided for each loudspeaker so that the value of a predetermined evaluation function based on the value processed by the filter and the residual noise detected by each microphone is reduced. are doing.

[0006]

Although it is possible to generate a drive signal capable of reducing noise according to the above-mentioned prior art, the frequency response of a normal loudspeaker is several tens Hz or more. Therefore, even if a drive signal having a lower frequency is supplied to the loudspeaker, a distorted sound is generated, and the noise level is adversely affected. Therefore, a loudspeaker having a large-diameter and large-capacity enclosure capable of sufficiently generating such low-frequency control sound is used, or a noise in an uncontrollable frequency band is generated. It is necessary to stop the reduction control, but in the former case, not only the cost is significantly increased, but also the device becomes large, and if the space margin is small, for example, in a vehicle cabin, mounting is impossible. In the latter case, a sufficient noise reduction effect becomes difficult when low-frequency noise is generated. Further, such noise reduction control can reduce the noise itself radiated into the vehicle interior or the like, but it is extremely difficult to reduce the vibration transmitted to the feet of the occupant or the like.

On the other hand, for example, vibration generated by the engine and transmitted to the vehicle body side is reduced by appropriately driving an engine mount having a built-in electromagnetic actuator in accordance with the above-described LMS algorithm or the like, thereby reducing noise radiated into a vehicle interior or the like. Even with a so-called active engine mount, the frequency response of a normal electromagnetic actuator is 200
Since the frequency is as low as about Hz or less, the electromagnetic actuator cannot be driven accurately when the engine is running at a high speed. As a result, there is a problem that the vibration reduction control cannot be sufficiently performed when high-frequency vibration occurs. Further, among the noises caused by the engine, it is extremely difficult to reduce the noise generated from the exhaust pipe or the like by the active engine mount regardless of the frequency band.

As described above, each of the noise reduction control using a loudspeaker and the like and the vibration reduction control using an engine mount and the like includes a frequency band in which a sufficient reduction effect cannot be obtained, and vibration and noise that cannot be reduced. You do it.
Here, as can be seen from the above description, in a frequency band where the effect of one control cannot be obtained, the effect of another control may be obtained. As a result, a reduction effect can be obtained over a wide frequency band and various noises and vibrations, but there has been no device capable of making such a reduction.

Further, when both the noise reduction device and the vibration reduction device as described above are simply provided, the following problems occur. That is, in consideration of reduction of muffled noise as unpleasant noise transmitted from the engine of the vehicle into the vehicle interior, when both functions are provided as described above, the vibration transmitted from the engine to the vehicle body is transmitted to the active engine. It is reduced by the mount, and the vibration that can not be reduced there and transmitted to the vehicle body shakes the vehicle body panel etc. and cancels the muffled sound generated in the vehicle interior by the control sound emitted from the loudspeaker, but the engine as a noise source Since the actuator for the active engine mount exists in the transmission system between the microphone for detecting the residual noise and the microphone, the characteristics of the transmission system frequently change depending on the driving condition of the actuator. The purpose of the adaptive algorithm is to express the transfer system with an adaptive digital filter. Considering from deteriorating the convergence of the adaptive digital filter for noise reduction control, it is there may not be sufficiently reduced noise by a loudspeaker.

The present invention has been made in view of such conventional problems, and provides an adaptive control device capable of reducing unpleasant waves over a wide frequency band. It is another object of the present invention to provide a specific configuration capable of solving a problem in realizing an adaptive control device.

[0011]

According to one aspect of the present invention, there is provided a control wave generating means capable of generating a control wave that interferes with a wave transmitted from a wave generating source; A reference signal generating means for detecting a wave generation state of the generation source and outputting it as a reference signal; an adaptive digital filter having a variable filter coefficient; and driving the control wave generation means by filtering the reference signal with the adaptive digital filter. Drive signal generating means for generating a signal, residual wave detecting means for detecting the wave after the interference and outputting it as a residual wave signal, so that the wave after the interference is reduced based on the reference signal and the residual wave signal. an adaptive control apparatus provided with an adaptive processing means for updating the filter coefficients of the adaptive digital filter, the wave source
Together with the control wave generating means so as to be positioned on the upstream side and the downstream side as viewed providing multiple, the adaptive digital filter corresponding to each of the plurality of control wave generator means, the drive signal generating means, the residual wave detection means and Adaptation processing means is provided , and furthermore, it is arranged upstream when viewed from the wave source.
Change state to detect the change state of the controlled wave generation means
Detecting means, and a detection result of the change status detecting means.
Adaptive processing corresponding to the control wave generation means disposed on the downstream side
Of filter coefficients of adaptive digital filter
Update amount correction means for correcting the update amount .

[0012]

According to a second aspect of the present invention, in the first aspect of the present invention, the change situation detecting means detects the change situation by an adaptive processing means corresponding to the control wave generating means arranged on the upstream side. is configured to be detected based on the update amount of filter coefficients of the adaptive digital filter, the invention of claim 3, wherein, in the invention described in claim 1, wherein the change status detection means, a change situation, it is disposed on the upstream side The detection is performed based on the residual wave signal detected by the residual wave detecting means corresponding to the control wave generating means.

According to a fourth aspect of the present invention, in the first to third aspects of the present invention, the update amount correction means is disposed downstream according to a detection result of the change status detection means. The configuration is such that the coefficient which affects the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing means corresponding to the control wave generation means is changed. On the other hand, the invention according to claim 5 is a control wave generating means capable of generating a control wave interfering with a wave transmitted from a wave generation source, and a reference for detecting a wave generation state of the wave generation source and outputting it as a reference signal. Signal generation means, an adaptive digital filter having a variable filter coefficient, drive signal generation means for filtering the reference signal with the adaptive digital filter to generate a signal for driving the control wave generation means, and the wave after the interference. Residual wave detecting means for detecting and outputting as a residual wave signal, adaptive processing means for updating the filter coefficient of the adaptive digital filter so as to reduce the wave after the interference based on the reference signal and the residual wave signal, And a plurality of said control wave generating means are provided so as to be located on the upstream side and the downstream side as viewed from the wave generating source. Rutotomoni, the adaptive digital filter corresponding to each of the plurality of control wave generator means, the drive signal generation means controls, the residual wave detection means and the adaptive processing means is provided, is disposed on the downstream side as viewed from the wave motion source the reference signal generating means corresponding to the wave generator means, the residual wave detection means corresponding to the control wave generating means is disposed upstream including
It was composed .

According to a sixth aspect of the present invention, in the first to fourth aspects of the present invention, the wave control is provided between the wave generation source and the control wave generation means, and the wave transmission characteristic can be changed. And a transfer characteristic change state detecting means for detecting a change state of the wave transfer characteristic of the wave control apparatus, wherein the update amount correction means performs the adaptation according to a detection result of the transfer characteristic change state detecting means. The configuration is such that the update amount of the filter coefficient of the adaptive digital filter by the processing means is corrected. Further, the invention described in claim 7 is the above-described claim.
5. The invention according to claim 5, wherein the wave generation source and the control wave
A wave whose wave transmission characteristic can be changed by being arranged between
Motion control device and changes in wave transmission characteristics of the wave control device
Transfer characteristic change state detecting means for detecting a state;
The adaptive processing according to the detection result of the characteristic change situation detecting means.
Means to update the filter coefficients of the adaptive digital filter.
Update amount correction means for correcting the new amount.

According to an eighth aspect of the present invention, in the above-mentioned sixth or seventh aspect , the update amount correcting means is provided by the adaptive processing means according to a detection result of the transfer characteristic change status detecting means. The adaptive digital filter is configured to change the coefficient that affects the update amount of the filter coefficient. Further, according to the ninth aspect of the present invention, in the first to eighth aspects, the control wave generating means capable of generating control vibration and the control wave generating means capable of generating control sound are provided. A configuration was provided.

[0017]

According to the first aspect of the present invention, since a wave transmitted from a wave generation source and a plurality of types of control waves generated from a plurality of control wave generation means can interfere with each other, one control wave is generated. Even in a situation where a frequency band or a type of wave that cannot be reduced by the generating means is generated, since the characteristics of the control wave generating means for generating other control waves are different,
Waves transmitted from the wave source are reduced.

Further, disposed on an upstream side as viewed from the wave source and controlling the wave generating means is arranged to (closer to the wave generation source) (farther from the wave generation source) downstream as viewed from the wave source since there is a that the control wave generator means, the wave emitted from the wave generation source, from reaching the downstream side via the control wave generating means on the upstream side, in a situation where the upstream side of the control wave generator means has changed In other words, the optimum value at which the filter coefficient of the adaptive digital filter corresponding to the downstream control wave generating means should converge fluctuates.

Therefore, according to the first aspect of the present invention, the change situation detecting means detects a change situation of the control wave generating means arranged on the upstream side, and updates the control wave generating means in accordance with the detected change situation. Since the amount correction means corrects the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing means corresponding to the control wave generation means provided on the downstream side, for example, the update amount becomes large in a situation where the change is large. With such correction, in a situation where the optimum value of the adaptive digital filter is fluctuating, the update amount of the filter coefficient by the adaptive processing means becomes large, so that the follow-up performance can be prevented from deteriorating.

The control wave generator is driven in accordance with the drive signal generated by the drive signal generator.
Since the drive signal is generated by filtering the reference signal with the adaptive digital filter, in a situation where the filter coefficient of the adaptive digital filter changes, the corresponding control wave generating means changes. Can be determined. Therefore, as in the invention of claim 2, wherein, based on the update amount of filter coefficients of the adaptive digital filter corresponding to the control wave generating means is disposed upstream, the change status of the control wave generating means is detected You.

In a situation where the detection result of the residual wave detecting means is stable, it can be determined that the wave is reduced by the control wave generated from the control wave generating means. Therefore, the filter coefficient of the adaptive digital filter is optimized. It can be determined that the value is converged to the value or a value close to it, but the detection result of the residual wave detection means is changing,
In other words, in the situation where the level of the residual wave signal fluctuates,
The filter coefficients of the adaptive digital filter are in the process of converging toward the optimum value, and it can be determined that the corresponding control wave generating means has changed. Therefore, as in the invention of claim 3, wherein, based on the residual wave signal remaining wave detecting means detects that corresponds to the control wave generating means is disposed upstream, the change status of the control wave generator means detects Is done.

Further, in the invention according to claim 4 ,
When the update amount correction means changes a coefficient that affects the update amount of the filter coefficient of the adaptive digital filter, the update amount of the filter coefficient of the adaptive digital filter changes according to the change in the coefficient. This means that the coefficient update amount has been corrected. On the other hand, in the invention according to claim 5, the reference signal generating means provided corresponding to the downstream control wave generating means is configured to output the reference signal based on the wave after passing through the upstream control wave generating means. The transmission system identified by the adaptive processing means corresponding to the control wave generation means on the downstream side includes a downstream side of the control wave generation means on the upstream side and a residual wave detection corresponding to the control wave generation means on the downstream side. Means (Filtered-X
In the case of the LMS algorithm, it is a transmission system between the control wave generation means on the downstream side). And since such a transmission system does not include the upstream control wave generating means, even if the upstream control wave generating means is changing, the adaptive digital filter corresponding to the downstream control wave generating means can be used. Does not deteriorate.

[0023] Then, the residual wave detecting means corresponding to the control wave generator means of the upstream side, since detects a vibration of the downstream side of the control wave generating means, if the invention of claim 5, wherein, downstream The reference signal generated by the reference signal generating means corresponding to the control wave generating means disposed on the side is a signal generated based on the downstream wave of the control wave generating means disposed on the upstream side. .

Here, the inventions of claims 1 to 5 are based on the premise that there are a plurality of so-called adaptive control systems, but the control system disposed on the upstream side is an adaptive control system. There is a similar problem as described above that followability of the filter coefficient is deteriorated in the adaptive control system which is disposed on the downstream side, even if not, the invention of claims 6 to 7, wherein the case such problems It is to solve the point.

[0025] That is, in the invention of claim 6 and claim 7, wherein, when the wave propagation characteristics of the disposed a wave control device between the wave source and the control wave generating means is changed, the adaptive processing means Although the characteristic of the transmission system to be identified changes, the change state of the wave transmission characteristic is detected by the transfer characteristic change state detecting means in the same manner as in the first aspect of the present invention, and according to the detected change state. Then, the update amount correction means corrects the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing means. For example, if the update amount is corrected to be large in a situation where the change is large,
In a situation where the optimum value of the adaptive digital filter is fluctuating, the amount of update of the filter coefficient by the adaptive processing means becomes large, so that deterioration of the tracking performance can be avoided.

In the invention according to claim 8 ,
As in the fourth aspect of the present invention, the update amount correcting means includes:
When a coefficient that affects the update amount of the filter coefficient of the adaptive digital filter is changed, the update amount of the filter coefficient of the adaptive digital filter changes according to the change in the coefficient. Therefore, the update amount of the filter coefficient of the adaptive digital filter is corrected. It was done.

[0027]

[0028]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 and 2 are views showing the configuration of a first embodiment of the present invention. In this embodiment, an adaptive control device according to the present invention is used to reduce noise in a passenger compartment 3 of a vehicle 2 and to reduce noise from an engine 4. This is applied to an active noise and vibration control device 1 for a vehicle that reduces vibration transmitted to a vehicle body frame 5.

First, the structure will be described. As shown in FIG. 1, this active noise and vibration control apparatus 1 for a vehicle reduces vibration transmitted from an engine 4 as a wave source to a vehicle body frame 5, This is a device that transmits the vehicle body frame 5 to reduce the muffled sound radiated from the vehicle body panel 6 and the like into the vehicle interior 3. The engine 4 receives a crank angle signal X synchronized with the rotation of the crank shaft of the engine 4. Is output. The crank angle signal X output from the crank angle sensor 7 is
It is supplied to the controller 20. In the present embodiment, a four-cylinder reciprocating engine is assumed as the engine 4, and the engine 4 is supported by the body frame 5 via the engine mount 8.

[0030] Then, according engine mount 8, not just a resilient passive support apparatus comprising a body, any supporting force capable of generating active support apparatus in response to the drive signal y _V supplied from the controller 20 This constitutes one control wave generating means in the present invention. Various configurations are conceivable as specific configurations of the engine mount 8. For example, a support elastic body interposed between the engine 4 and the body frame 5, a fluid chamber formed in the support elastic body, and a fluid chamber , A movable plate forming a part of a partition of the fluid chamber, and an electromagnetic actuator for displacing the movable plate.

In the vicinity of the engine mount 8 of the vehicle body frame 5, an acceleration sensor 9 as one residual wave detecting means for detecting vibration acceleration is fixed, and the vibration of the vehicle body frame 5 detected by the acceleration sensor 9 is detected. The acceleration is supplied to the controller 20 as a residual vibration signal e _V as a residual wave signal. On the other hand, in the cabin 3, a plurality L of other residual wave detecting means for measuring the sound pressure of noise remaining in the cabin 3 (only two of them are shown in FIG. 1). ) Microphone 10
A plurality of M loudspeakers 11 (only one of them is shown in FIG. 1) as another control wave generating means for generating a control sound as a control wave in the vehicle interior 3; Are arranged.

The microphone 10 is arranged at a position where the sound pressure near the occupant's ear can be measured, and supplies the measured residual noise in the cabin 3 to the controller 20 as a residual noise signal e _Nl. It has become. The subscript 1 (l = 1, 2,..., L) of the residual noise signal e _Nl indicates which of the microphones 10 is the residual noise signal output.

The controller 20 outputs the crank angle signals X,
The engine mount 8 performs predetermined arithmetic processing based on the residual vibration signal e _V and the residual noise signal e _Nl so that vibration transmitted from the engine 4 to the vehicle body frame 5 is reduced.
Outputs drive signals y _V, as control sound such as muffled sound to be transmitted to the passenger compartment 3 is canceled supplies a drive signal y _Nm manner in each loudspeaker 11 is emitted from the loudspeaker 11 Has become. Drive signal y
The subscript m of _Nm (m = 1, 2,..., M) indicates which of the loudspeakers 11 is the drive signal supplied to the loudspeaker 11.

The controller 20 includes a microcomputer, necessary interface circuits, and the like, and its specific functional configuration is as shown in FIG. That is, the controller 20 is functionally
A reference for generating a reference signal x composed of a sine wave or the like having the same cycle as the muffled sound based on the crank angle signal X (in this embodiment, the same cycle as the secondary rotation component of the crank because the engine is a four-cylinder reciprocating engine). A signal generator 21, an adaptive digital filter W _V for vibration reduction, an adaptive digital filter W _Nm for noise reduction of the same number as the number M of the loudspeakers 11, a filter coefficient of the reference signal x and the adaptive digital filter W _{V W vi (i = 0,1, ...} , I-1: I is the number of taps of the adaptive digital filter) and the drive signal generating unit 22 as one of the drive signal generating means for calculating a drive signal y _V convolving a , Reference signal x and adaptive digital filter W
The drive signal generation unit 23 as another drive signal generation means for calculating the drive signal y _Nm by _{convolving the Nm} filter coefficient W _Nmi and the transfer function of vibration between the engine mount 8 and the acceleration sensor 9 is represented by a finite impulse response. A transfer function filter C _v化 modeled in the form of a function, and a transfer function filter C _N in which the transfer function of sound between the loudspeakers 11 and the loudspeakers 10 in the passenger compartment 3 is modeled in the form of a finite impulse response function. ＾ _lm and drive signal y _V
Coefficient updating unit 24 for updating each filter coefficient W _Vi of adaptive digital filter W _V so as to obtain a signal that can reduce vibration transmitted from vehicle body frame 5 to vehicle body frame 5, and drive signal y _Nm generates noise in vehicle interior 3 _And a filter coefficient updating unit 25 for updating each filter coefficient W _Nmi of the adaptive digital filter W _Nm so as to obtain a signal capable of reducing the filter coefficient according to the update amount ΔW _Vi of the filter coefficient W _Vi by the filter coefficient updating unit 24. A convergence coefficient setting unit 26 that sets a convergence coefficient _αN, which will be described later, used by the update unit 25 for the update operation.

The filter coefficient updating unit 24 includes a reference signal x
And transfer function filter C_Vフ ィ ル タ filter coefficient C_V＾_j(J
= 0, 1, ..., J-1: J is the tap of the transfer function filter
) And a reference processing signal r obtained by convolving_VAnd the residual
Vibration signal e_VAnd the filter coefficient updating unit
24 is the reference processing signal r_VAnd residual vibration signal e _V
Adaptive digitization based on LMS algorithm
Tal filter W_VEach filter coefficient W_ViTo update
It has become. Therefore, the filter coefficient W_ViThe update formula for
Let the convergence coefficient be α_VThen, the following equation (1) is obtained.
You.

[0036] W_Vi(N + 1) = W_Vi(N) -α_Ve_V(N) r_V(Ni) (1) On the other hand, the filter coefficient updating unit 25 sends the reference signal x
Function filter C_N＾ _lmFilter coefficient C_N＾_lmjAnd
Reference processing signal r obtained by convolution_NlmAnd the residual wave signal
No. e_NlAnd the filter coefficient updating unit 25
Is the reference processing signal r_NlmAnd residual noise signal e_NlTo
Adaptive digital based on and according to LMS algorithm
Filter W_NmEach filter coefficient W_NmiTo update
It has become. Therefore, the filter coefficient W_NmiUpdate formula
Sets the convergence coefficient to α_NThen, as in the following equation (2),
Become.

[0037] Then, the convergence coefficient setting unit 26 sets the filter coefficient updating unit 2
Updating amount of filter coefficient W _Vi in 4 ΔW _Vi (= Σ | W
_Vi (n + 1) −W _Vi (n) |), and based on the calculation result, referring to a map as shown in FIG.
Set _N.

Specifically, the convergence coefficient α _N is determined by the update amount ΔW
When _Vi is in a predetermined value [delta] ₁ below, following the change of the acoustic transmission system and the like in the passenger compartment 3 to set the filter coefficient W _Nmi updatable minimum necessary size, the update amount [Delta] W _Vi is Predetermined value δ ₁
Is larger than the predetermined value δ ₂ , and is set to increase in proportion to the predetermined value δ _{2. When} the update amount ΔW _Vi becomes larger than the predetermined value δ ₂ , the filter coefficient W _Nmi
Is set to the maximum value that can be updated stably. The predetermined value δ ₁ is determined by the adaptive digital filter W _V
Is an upper limit value at which it can be determined that there is almost no change.

FIG. 4 is a flowchart showing an outline of the processing executed in the controller 20, and the operation of this embodiment will be described below with reference to FIG. That is, the controller 2
The process in 0 is executed as an interrupt process every predetermined sampling period. First, in step 101, the crank angle signal X is read,
Next, the routine proceeds to step 102, where the crank angle signal X
, A reference signal x composed of a sine wave is generated. In addition,
Since the arithmetic processing in the controller 20 is digital signal processing, the reference signal x is an instantaneous value at the sampling time n.

Next, the routine proceeds to step 103, where the reference signal x is transferred to the transfer function filter C _V ＾ and the transfer function filter C _N.
＾ _lm to calculate the reference processed signal r _V and the reference processed signal r _Nlm ,
Then, the residual vibration signal e _V and the residual noise signal e _Nl are read. Then, the process proceeds to step 105 to update each filter coefficient W _Vi of the adaptive digital filter W _V according to the above equation (1).

After finishing the updating process of the filter coefficient W _Vi ,
The process proceeds to step 106, calculates the update amount [Delta] W _Vi of the filter coefficient W _Vi. The update amount ΔW _Vi is calculated as the sum of the absolute values of the update amounts of the respective filter coefficients W _Vi . Next, the routine _proceeds to step 107, where the convergence coefficient α _N is set with reference to the map shown in FIG. 3 based on the update amount ΔW _Vi obtained in step 106, and then the routine _proceeds to step 108, where 2) Update each filter coefficient W _Nmi of the adaptive digital filter W _Nm according to the equation.

_After the updating process of the filter coefficient W _Nmi is completed, the process _proceeds to step 109, where the reference signal x is filtered by the adaptive digital filter W _V and the adaptive digital filter W _Nm , respectively, and the drive signal y _V and the drive signal y _Nm is calculated, and these drive signals y _V and y _Nm are output to the corresponding engine mount 8 or loudspeaker 11 at step 110.

Then, the engine mount 8 is mounted on the engine 4
And the control vibration is generated between the vehicle body frame 5 and the loudspeaker 11 generates a control sound toward the interior of the passenger compartment 3. Immediately after the control is started, the filter coefficient W _Vi of the adaptive digital filter W _V and the adaptive digital filter W _Since the filter coefficient W _{Nmi of Nm} does not always converge to the optimum value, the vibration transmitted from the engine 4 to the body frame 5 is not necessarily reduced by the control vibration.
The muffled sound in the cabin 3 is not necessarily reduced by the control sound.

[0044] However, the processing shown in FIG. 4 is repeated, since the filter coefficients W _Nmi of the filter coefficient W _Vi and the adaptive digital filter W _Nm of the adaptive digital filter W _V based on the LMS algorithm will be updated as appropriate The vibration transmitted from the engine 4 to the vehicle body frame 5 is reduced by the control vibration generated in the engine mount 8, and the muffled sound in the vehicle interior 3 is reduced by the control sound emitted from the loudspeaker 11.

In this embodiment, the engine 4
Since there are two types of control actuators, namely, an engine mount 8 that emits control vibration between the body frames 5, and a loudspeaker 11 that emits control sound toward the interior of the vehicle cabin 3, for example, FIG. As shown, a frequency band in which the vibration reduction effect of the engine mount 8 is not sufficiently exhibited (in this example, the engine rotation speed is 3500
5B, and a frequency band in which the noise reduction effect of the loudspeaker 11 is not sufficiently exerted as shown in FIG.
(Around 600 rpm and a range smaller than 1500 rpm)
However, the control effect of the other control actuator can be obtained so as to compensate for such a range. For this reason, in the band where the vibration reduction effect of the engine mount 8 is small, the loudspeaker 11 can obtain a sufficient noise reduction effect, and in the band where the noise reduction effect of the loudspeaker 11 is small, the body panel 6 which is the cause of the muffled sound is obtained.
The vibration itself is suppressed by the engine mount 8.

Further, in a device that can only perform the vibration reduction control by the engine mount 8, it is impossible to reduce, for example, the noise generated from the exhaust pipe, and in a device that can only perform the noise reduction control by the loudspeaker 11. Although it is impossible to reduce the vibration at the feet of the occupant, the configuration of the present embodiment can also reduce such noise and vibration.

Further, in this embodiment, the engine 4
The adaptive digital filter corresponding to the loudspeaker 11 disposed downstream according to the update amount ΔW _Vi of the filter coefficient W _Vi of the adaptive digital filter W _V corresponding to the engine mount 8 disposed upstream from the viewpoint. The convergence coefficient α _N required for the update operation of the filter coefficient W _Nmi of W _Nm is set. Further, as can be seen from FIG. 3, the convergence coefficient α _N is set in accordance with the increase of the update amount ΔW _Vi. It tends to be larger. Then, since the increase in the convergence coefficient α _N is directly reflected on the update amount of the filter coefficient W _Nmi as can be seen from the above equation (2), the filter coefficient W _Vi of the adaptive digital filter W _V changes greatly after all. In some situations, the filter coefficient W of the adaptive digital filter W _Nm
The update amount of _Nmi also becomes large.

As a result, the vibration transmission characteristic of the engine mount 8 changes, and the characteristic of the transmission system for identifying the adaptive digital filter W _Nm changes. The filter coefficient W _Nmi of the adaptive digital filter W _Nm should converge. Even if the optimum value fluctuates, in such a situation, the update amount of the filter coefficient W _Nmi increases as described above, so that deterioration of the convergence can be avoided. Further, when the vibration transmission characteristic of the engine mount 8 is stable, that is, when the optimum value for the filter coefficient W _Nmi to converge does not fluctuate, the convergence coefficient α _N takes a small value. It does not become stable. Therefore, the noise reduction effect as shown in FIG. 5B can be reliably obtained.

In this embodiment, the crank angle sensor 7, the reference signal generator 21 and the processing in step 102 constitute a reference signal generator, and the filter coefficient updating unit 24 and the transfer function filter C _V ＾ And step 10
The adaptive processing means corresponding to the engine mount 8 is constituted by the processing of 3, 105, and the filter coefficient updating unit 25,
Transfer function filter C _{N lm lm} and steps 103 and 108
, The adaptive processing means corresponding to the loudspeaker 11 is constituted, the processing in step 106 constitutes a change situation detecting means, and the convergence coefficient setting unit 26, the map shown in FIG. Is configured.

FIG. 6 is a diagram showing the configuration of the second embodiment of the present invention, and is a block diagram showing the functional configuration of the controller 20 as in FIG. 2 in the first embodiment. In addition,
The same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof will not be repeated. Since other configurations are the same as those of the first embodiment, their illustration and description are omitted.

That is, in this embodiment, the convergence coefficient setting unit 26
Is designed so as to monitor the residual vibration signal e _V, convergence factor α based on the level change of the residual vibration signal e _V
N is set. The residual vibration signal e _V is a signal that is stable in a situation where the vibration reduction effect of the engine mount 8 is obtained, but fluctuates in a situation where the vibration reduction effect is insufficient, and the vibration reduction effect Is that the filter coefficient W _Vi of the adaptive digital filter W _V is converging. When the filter coefficient W _Vi converges, the characteristics of the engine mount 8 change. Because
The convergence coefficient α _N based on the level change of the residual vibration signal e _V
Is set, the same operation and effect as in the first embodiment can be obtained.

The increase in the amount of update of the filter coefficient W _Vi of the adaptive digital filter W _V may be caused by, for example, a change in the engine speed or a change in the load on the engine 4. it may set the convergence coefficient alpha _N based on the change.
FIG. 7 is a diagram showing the configuration of the third embodiment of the present invention, and is a block diagram showing the functional configuration of the controller 20 as in FIG. 2 in the first embodiment. The same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof will not be repeated. Since other configurations are the same as those of the first embodiment, their illustration and description are omitted.

That is, the process of generating the drive signal y _{V and} the process of updating the filter coefficient W _Vi of the adaptive digital filter W _V based on the reference signal x ₁ generated by the reference signal generation unit 21 are described in the first embodiment. is similar to, in this embodiment, a new reference signal generator 30 is provided, the drive signal y based on the reference signal x ₂ that the reference signal generator 30 has generated
_{It is characterized in that Nm} generation processing and update processing of the filter coefficient W _Nmi of the adaptive digital filter W _Nm are performed.

The reference signal generator 30 generates the reference signal x ₂ based on the residual vibration signal e _V input to the filter coefficient update unit 24 instead of the crank angle signal X. FIG. 8 is a flowchart showing an outline of processing executed in the controller 20 in the present embodiment. First, in step 201, the crank angle signal X is read, and then the process proceeds to step 202.
Generates a reference signal x ₁ based on the crank angle signal X, then proceeds to step 203, the residual vibration signal e _V
And the residual noise signal e _Nl are read.

[0055] Then, the process proceeds to step 204, where based on the residual vibration signal e _V, generates a reference signal x _2. Next, the routine proceeds to step 205, where the reference signal x ₁ is filtered by the transfer function filter C _V ＾ to calculate the reference processing signal r _V , and the reference signal x ₂ is filtered by the transfer function filter C _{N lm lm.} And the reference processing signal r _Nlm
Is calculated.

Then, the process proceeds to step 206 to update each filter coefficient W _Vi of the adaptive digital filter W _V according to the above equation (1), and to update each filter coefficient W _Vi of the adaptive digital filter W _Nm according to the above equation (2). _Nmi
To update. Filter coefficient W _Vi and filter coefficient W _Nmi
After completing the update process, and proceeds to step 207, as well as calculating the drive signal y _V reference signal x ₁ in the adaptive digital filter W _V filtered, the filter reference signal x ₂ with adaptive digital filter W _Nm Then, a drive signal y _Nm is calculated, and these drive signals y _V and y _Nm are output to a corresponding engine mount or loudspeaker in step 208.

Then, by the same operation as in the first embodiment, the vibration transmitted from the engine to the vehicle body frame by the control vibration generated in the engine mount is reduced, and the muffled sound in the vehicle cabin is generated by the control sound emitted from the loudspeaker. Is reduced. In the present embodiment, the reference signal x necessary for the process of generating the drive signal y _Nm corresponding to the loudspeaker located downstream from the engine and the process of updating the filter coefficient W _Nmi of the adaptive digital filter W _{Nm. 2} is generated based on the residual vibration signal e _V representing the vibration state on the downstream side of the engine mount located upstream of the loudspeaker, so that the engine mount is included in the transmission system identified by the adaptive digital filter W _Nm. Will not exist. Therefore, even if the transfer characteristic of the engine mount changes, the adaptive digital filter W _Nm
The optimum value for the filter coefficient W _Nmi to converge does not fluctuate, and the convergence does not deteriorate.

Therefore, in the present embodiment, the effect shown in FIG. 5 can be obtained as in the first embodiment. Here, in the present embodiment, the crank angle sensor 5, the reference signal generator 21, and the processing of step 202 constitute a reference signal generator corresponding to the engine mount, and the acceleration sensor 9, the reference signal generator 30, The reference signal generating means corresponding to the loudspeaker is constituted by the processing of step 204.

FIGS. 9 and 10 show the configuration of a fourth embodiment of the present invention. In this embodiment, similarly to the first embodiment, the adaptive control device according to the present invention is applied to the cabin of the vehicle 2. Active noise and vibration control device 1 for a vehicle for reducing the noise inside 3 and reducing the vibration transmitted from engine 4 to body frame 5
It is applied to The same components as those in the first embodiment are denoted by the same reference numerals, and redundant description will be omitted.

That is, in this embodiment, the sub-frame mount 36 interposed between the body frame 5 and the sub-frame 35 has a structure capable of generating control vibration in the same manner as the engine mount 8. The drive signal y _S is supplied from the controller 20 to the mount 36. Therefore, the sub-frame mount 36 also constitutes a control wave generating means in the present invention.

Further, an acceleration sensor 37 as a residual wave detecting means corresponding to the sub frame mount 36 is fixed to the sub frame 35, and the vibration acceleration of the sub frame 35 detected by the acceleration sensor 37 is equal to the residual wave. are supplied to the controller 20 as a residual vibration signal e _S as a signal. On the other hand, the controller 20 is a block diagram showing its functional configuration.
As shown in FIG. 7, the functional configuration is basically the same as that of the controller 20 in the first embodiment.
An adaptive digital filter W _S , a drive signal generator 38, a filter coefficient updater 39, and a transfer function filter C _S } are provided corresponding to the subframe mount 35, and two convergence coefficient setting units 40 and 41. Is provided.

[0062] filter coefficient updating unit 39 is configured to update the filter coefficients W _Si of the adaptive digital filter W _S according LMS algorithm as well as other filter coefficient updating unit 24, 25. Therefore, the filter coefficient W _Si
Is given by the following equation (3) if the convergence coefficient is α _{S. W Si (n + 1) =} W Si (n) -α S e S (n) r S (n-i) ...... (3) Further, the transfer function filter C _S ^ is the sub-frame mount 36 and the acceleration sensor 37 This is a digital filter that models the transfer function of vibration during the period in the form of a finite impulse response function.

The convergence coefficient setting unit 40 sets the convergence coefficient α _S required by the filter coefficient update unit 39 based on the update amount ΔW _Vi of the filter coefficient W _Vi in the filter coefficient update unit 24 corresponding to the engine mount 8. Then, the convergence coefficient setting unit 41 sets the convergence coefficient α _N required by the filter coefficient update unit 25 based on the update amount ΔW _Si of the filter coefficient W _Si in the filter coefficient update unit 39 corresponding to the subframe mount 36. It has become. The convergence coefficient setting units 40 and 41 set the convergence coefficients α _S and α _N with reference to a map as shown in FIG. 3 similarly to the convergence coefficient setting unit in the first embodiment.

In the configuration shown in FIG. 9, when viewed from the engine 4, the engine mount 8 is located at the most upstream side, the subframe mount 36 is located at the downstream side, and the loudspeaker 11 is located at the most downstream side. because there, although the deterioration of the convergence of the adaptive digital filter W _Nm corresponding to the adaptive digital filter W _S and a loudspeaker 11 corresponding to the subframe mounts 36 located on the downstream side is concerned, in the present embodiment However, the convergence coefficient setting unit 4
Since 0 and 41 are provided, convergence can be prevented from deteriorating without deteriorating control stability, and both vibration and noise can be reduced in the vehicle interior 3 by the same operation and effect as in the first embodiment. A comfortable space can be created.

In this embodiment, the crank angle sensor 7 and the reference signal generator 21 constitute a reference signal generator, and the filter coefficient updating unit 24 and the transfer function filter C _VにA corresponding adaptive processing means is constituted, and the loudspeaker 11 is constituted by the filter coefficient updating unit 25 and the transfer function filter C _N ＾ _lm .
, An adaptive processing unit corresponding to the subframe mount 36 is configured by the filter coefficient updating unit 39 and the transfer function filter C _S ＾, and the convergence coefficient setting units 40 and 41 function as an updating amount correcting unit. Constitute.

FIG. 11 is a diagram showing a fifth embodiment of the present invention, and is a block diagram showing a functional configuration of the controller 20 as in FIG. 10 in the fourth embodiment. The same components as those in the fourth embodiment are denoted by the same reference numerals, and the description thereof will not be repeated. Other configurations are the same as those of the fourth embodiment.
Since it is the same as the embodiment, its illustration and description are omitted.

That is, the process of generating the drive signal y _{V and} the process of updating the filter coefficient W _Vi of the adaptive digital filter W _V based on the reference signal x ₁ generated by the reference signal generation unit 21 are described in the fourth embodiment. However, in the present embodiment, the reference signal generators 45 and 46 are newly provided, and the generation processing of the drive signal y _S and the adaptive digital filter W are performed based on the reference signal x ₂ generated by the reference signal generator 45. The update processing of the filter coefficient W _Si of _S is performed, and the generation processing of the drive signal y _Nm and the update processing of the filter coefficient W _Nmi of the adaptive digital filter W _Nm are performed based on the reference signal x ₃ generated by the reference signal generation unit 46. There is a feature in doing.

Then, the reference signal generator 45 generates a reference signal x ₂ based on the residual vibration signal e _V input to the filter coefficient updater 24, and the reference signal generator 46
Is adapted to generate a reference signal x ₃ on the basis of the residual vibration signal e _S being input to the filter coefficient updating unit 39. With such a configuration, similarly to the third embodiment, the engine mount does not exist in the transmission system identified by the adaptive digital filter W _{S and} the transmission system identified by the adaptive digital filter W _Nm does not exist. because so that the engine mount and the subframe mount is not present, engine mounts and also the transfer characteristic of the subframe mount is changed, the adaptive digital filter W optimum filter coefficient W _Si should convergence of _S and adaptive digital filter W _Nm
The optimum value for the filter coefficient W _Nmi to converge does not fluctuate, and the convergence does not deteriorate.

Therefore, in the present embodiment, the same effects as in the fourth embodiment can be obtained. Here, in the present embodiment, the crank angle sensor 5 and the reference signal generation unit 21 constitute reference signal generation means corresponding to the engine mount, and the acceleration sensor 9 and the reference signal generation unit 4
The reference signal generation means corresponding to the subframe mount 36 is constituted by 5, and the reference signal generation means corresponding to the loudspeaker 11 is constituted by the acceleration sensor 37 and the reference signal generation unit 46.

In each of the above embodiments, a case has been described in which a plurality of so-called adaptive control systems exist. However, from the viewpoint of the source of vibration and noise, a wave control device such as a vibration control device having a variable transfer characteristic other than the adaptive control system is used. Even when the device is disposed on the upstream side and the adaptive control system is disposed on the downstream side, the convergence of the downstream adaptive control system deteriorates due to the change in the transmission characteristics of the wave control device. The problem of doing so occurs. Therefore, even in such a case, when the wave control device greatly changes, the update amount in the adaptive algorithm of the adaptive control system is corrected to be large, or the wave on the downstream side of the wave control device is detected. By generating the reference signal based on this, the problem can be solved.

That is, as a wave control device having a variable transmission characteristic, in a vehicle, a damping force variable shock absorber in which a damping force generated in accordance with a running state changes, and a force generated by a hydraulic actuator are appropriately controlled. So-called active suspensions that reduce the rolling and pitching of the vehicle body, engine mounts using electro-rheological fluids, etc. are conceivable.However, if the damping force is variable shock absorber or engine mount, the magnitude and fluid viscosity of the damping force will be reduced. Immediately after the change signal is issued, the convergence coefficient is increased. In the case of an active suspension, the convergence coefficient may be set in accordance with the amount of change in the level of the command signal to the hydraulic actuator, or the wave control device may be used. An acceleration sensor is fixed on the downstream side of the Generation should be.

Further, in each of the above embodiments, the engine is taken as an example of the wave source, but the wave source to which the present invention can be applied is not limited to the engine. Think of it as a wave source
An active noise and vibration control device for a vehicle that reduces noise can be provided. The application of the present invention is not limited to vehicles, and may be, for example, an apparatus that reduces noise or the like emitted from a duct or the like.

Further, in each of the above embodiments, the time domain Fi is used for updating the filter coefficient of the adaptive digital filter.
Although the description has been given of the case where the iterated-X LMS algorithm is applied, the present invention is not limited to this.
For example, a frequency-domain Filtered-X LMS algorithm, a synchronous Filtered-X LMS algorithm, or the like may be applied.

[0074]

As described above, claim 1 or claim 3
According to the invention as set forth in claim 5 , the control wave generating means includes a plurality of control wave generating means.
And multiple on the upstream and downstream sides from the wave source.
Along with the control wave generation means.
The adaptive digital filter and drive signal corresponding to each
Signal generation means, residual wave detection means and adaptive processing means
And therefore, there is an effect that the individual control wave generator means frequency band and vibration can not be reduced, even if noise or the like, it is possible to reduce the wave motion as a whole.

In particular, according to the first to fifth aspects of the present invention, it is possible to prevent the convergence of the adaptive digital filter corresponding to the control wave generating means provided on the downstream side from being deteriorated. There is an effect that the wave reduction effect by the control wave generation means can be reliably obtained. In addition, according to the invention described in claims 6 to 8 , even if the wave transmission characteristics of the wave control device arranged on the upstream side change, it corresponds to the control wave generation means arranged on the downstream side. Since it is possible to prevent the convergence of the adaptive digital filter from deteriorating, there is an effect that the wave reduction effect by the control wave generator can be reliably obtained.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram showing the entire configuration of a first embodiment of the present invention.

FIG. 2 is a block diagram illustrating a functional configuration of a controller according to the first embodiment.

FIG. 3 is a graph showing a relationship between an update amount of a filter coefficient and a convergence coefficient.

FIG. 4 is a flowchart illustrating an outline of processing executed in a controller according to the first embodiment.

FIG. 5 is a frequency characteristic diagram illustrating the operation and effect of the first embodiment.

FIG. 6 is a block diagram illustrating a functional configuration of a controller according to a second embodiment.

FIG. 7 is a block diagram illustrating a functional configuration of a controller according to a third embodiment.

FIG. 8 is a flowchart illustrating an outline of processing executed in a controller according to a third embodiment.

FIG. 9 is a conceptual diagram showing the entire configuration of a fourth embodiment.

FIG. 10 is a block diagram illustrating a functional configuration of a controller according to a fourth embodiment.

FIG. 11 is a block diagram illustrating a functional configuration of a controller according to a fifth embodiment.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 Active noise and vibration control device for vehicle (adaptive control device) 4 Engine (wave generation source) 5 Body frame 7 Crank angle sensor 8 Engine mount (control wave generation means) 9 Acceleration sensor (residual wave detection means) 10 Microphone (residual) Wave detector 11 Loudspeaker (control wave generator) 20 Controller 21 Reference signal generator 22, 23 Drive signal generator (drive signal generator) 24, 25 Filter coefficient update unit 26 Convergence coefficient setting unit 30 Reference signal generator 36 sub-frame actuator (control wave generation means) 38 drive signal generation section (drive signal generation means) 39 filter coefficient update section 40, 41 convergence coefficient setting section 45, 46 reference signal generation section

Continuation of front page (56) References JP-A-4-11292 (JP, A) JP-A-5-61486 (JP, A) JP-A-5-158487 (JP, A) JP-A-4-308899 (JP) JP-A-4-203406 (JP, A) JP-A-3-40598 (JP, A) JP-A-2-70195 (JP, A) JP-A-3-174198 (JP, A) 5-71578 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G10K 11/178 B60R 11/02 G05B 13/02 H03H 17/02 601 H03H 21/00

Claims (9)

(57) [Claims] 1. A control wave generating means capable of generating a control wave interfering with a wave transmitted from a wave generating source, a reference signal generating means detecting a wave generating state of the wave generating source and outputting as a reference signal, An adaptive digital filter having a variable filter coefficient; a drive signal generating means for filtering the reference signal with the adaptive digital filter to generate a signal for driving the control wave generating means; and a residual wave detecting the wave after the interference and detecting the residual wave. Adaptive control means for outputting a signal as a signal, and adaptive processing means for updating a filter coefficient of the adaptive digital filter based on the reference signal and the residual signal so as to reduce the wave after the interference. In the device, a plurality of the control wave generation means are provided so as to be located on the upstream side and the downstream side as viewed from the wave generation source, The adaptive digital filter, the drive signal generating means, the residual wave detecting means, and the adaptive processing means corresponding to each of the plurality of control wave generating means are provided, and the control wave arranged upstream from the wave generating source is further provided. A change condition detecting means for detecting a change condition of the generating means, and a filter coefficient of an adaptive digital filter by an adaptive processing means corresponding to a control wave generating means arranged on the downstream side in accordance with a detection result of the change condition detecting means. An adaptive control device, comprising: an update amount correction unit that corrects an update amount. 2. The change situation detecting means detects a change situation based on an update amount of a filter coefficient of an adaptive digital filter by an adaptive processing means corresponding to a control wave generating means arranged on an upstream side. An adaptive control device as described. 3. The adaptation according to claim 1, wherein the change situation detecting means detects the change situation based on a residual wave signal detected by the residual wave detecting means corresponding to the control wave generating means arranged on the upstream side. Control device. 4. An update amount correction means for updating the filter coefficient of an adaptive digital filter by an adaptive processing means corresponding to a control wave generation means provided on the downstream side in accordance with a detection result of a change situation detection means. The adaptive control device according to claim 1, wherein a coefficient that affects the adaptive control device is changed. 5. A control wave generation means capable of generating a control wave that interferes with a wave transmitted from a wave generation source, a reference signal generation means for detecting a wave generation state of the wave generation source and outputting as a reference signal, An adaptive digital filter having a variable filter coefficient; a drive signal generating means for filtering the reference signal with the adaptive digital filter to generate a signal for driving the control wave generating means; and a residual wave detecting the wave after the interference and detecting the residual wave. Adaptive control means for outputting a signal as a signal, and adaptive processing means for updating a filter coefficient of the adaptive digital filter based on the reference signal and the residual signal so as to reduce the wave after the interference. In the apparatus, a plurality of the control wave generation means are provided so as to be located on the upstream side and the downstream side as viewed from the wave generation source, An adaptive digital filter, a drive signal generator, a residual wave detector, and an adaptive processor corresponding to each of the plurality of control wave generators; and a control wave generator arranged downstream from the wave generator. An adaptive control apparatus, comprising: a reference signal generating means corresponding to the control signal generating means including a residual wave detecting means corresponding to the control wave generating means disposed on the upstream side. 6. A wave control device arranged between the wave generation source and the control wave generation means and capable of changing a wave transmission characteristic, and a transfer characteristic for detecting a change state of the wave transmission characteristic of the wave control device. Change state detecting means, wherein the update amount correcting means corrects the update amount of the filter coefficient of the adaptive digital filter by the adaptive processing means according to the detection result of the transfer characteristic change state detecting means. The adaptive control device according to any one of claims 1 to 4 , wherein: 7. The wave generating source and the control wave generating means.
A wave control device that is arranged between the
And the changes in the wave transmission characteristics of the wave control device.
Means for detecting a change in the transfer characteristic,
The adaptive processing means according to the detection result of the situation detecting means.
The update amount of the filter coefficient of the adaptive digital filter
Update amount correcting means for correcting
The adaptive control device according to claim 5. 8. updating amount correction means, the transfer characteristic in response to a change status detection unit of the detection result, the adaptive processing means by the adaptive filter coefficient of the digital filter update amount to claim 6 or claim changing the coefficients affecting Item 7. The adaptive control device according to Item 7 . A control wave generator means 9. can emit control vibration, either one of claims 1 to 8, characterized in that it and a control wave generating means capable of emitting a control sound 3. The adaptive control device according to claim 1.