JPH1011071A - Active type noise and vibration control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make deviation between a transfer function filter and an actual transfer function as small as possible without increasing largely a operation load. SOLUTION: A controller 25 performing vibration reduction control is provided with a divergence detecting section 25D detecting divergence of control based on a residual vibration signal (e), a divergence frequency detecting section 25E obtaining a divergence frequency fD with which divergence occurs based on the detected result of this divergence detecting section 25D and the reference signal (x), and a transfer function filter correcting section 25F converting a phase of a component corresponding to the divergence frequency fD defined out of each frequency component of a transfer function filter C when the divergence detecting section 25D detects divergence, besides a driving signal generation section 25A, a reference signal operation section 25B, and a filter coefficient updating section 25C.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active noise / vibration control apparatus adapted to execute noise or vibration reduction control in accordance with an adaptive algorithm. A transfer function filter that models a transfer function between the residual noise detecting means and the residual vibration detecting means is used, and the transfer function filter and the actual transfer function filter can be used without significantly increasing the calculation load. Is minimized as much as possible.

[0002]

2. Description of the Related Art As a prior art of this kind, for example, there is one disclosed in Japanese Patent Application Laid-Open No. Hei 5-8694 previously proposed by the present applicant.

[0003] That is, the prior art described in the above publication relates to an active noise control device for reducing noise by causing a control sound emitted from a control sound source to interfere with noise transmitted from a noise source. A drive signal for driving the sound source is generated according to a control algorithm including a transfer function between the control sound source and the residual noise detecting means. Then, in order to reduce the deviation between the transfer function model in the control algorithm and the actual transfer function,
The transfer function model is updated to the corrected transfer function model at a predetermined timing, thereby suppressing the divergence of the control. The timing at which the divergence of the control is detected is raised as the predetermined timing for updating the transfer function model to the corrected transfer function model.

Further, in the above publication, as a specific configuration for creating a corrected transfer function model, a test signal is supplied to a control sound source when control divergence is detected, and the test signal and the test signal are supplied. A configuration for calculating a corrected transfer function model based on the residual noise signal detected by the residual noise detection unit, a configuration for changing the phase of the transfer function model by a predetermined amount to obtain a corrected transfer function model, and the like are disclosed.

[0005]

Indeed, according to the prior art described in the above publication, the transfer function model can be appropriately updated, so that the transfer function model can be updated as compared with the case where the transfer function model is fixed. Is maintained with high accuracy, and good noise reduction control can be performed.

However, in a configuration in which the corrected transfer function model is performed by supplying a test signal to the control sound source as described above, a test sound corresponding to the test signal is emitted from the control sound source, so that the control sound source cannot be controlled in the control space. The test sound may be heard by humans present in the area. For this reason, it is necessary to take measures such as minimizing the test sound or generating the test sound in a situation where other noise levels are large so as to obtain a masking effect. Then, components other than the test sound are also included in the residual noise signal at a relatively high level. Therefore, in order to create a high-accuracy transfer function model, for example, an update operation according to an adaptive algorithm must be performed many times. First, in order to create a transfer function model in a short time and with high accuracy, for example, an expensive microprocessor or the like having a high calculation capability is required, which is disadvantageous in cost.

On the other hand, in a configuration in which the corrected transfer function model is created by changing the phase of the transfer function model by a predetermined amount as described above, the increase in the operation load can be minimized, but the phase of the transfer function model is simply reduced. Since the configuration is changed, a highly accurate corrected transfer function model may not be obtained. In other words, in terms of accuracy, it is inferior to the configuration in which the above-described test sound is generated to obtain the corrected transfer function model.

These problems are not limited to the active noise control device disclosed in the above publication,
The same applies to an active vibration control device to which a similar control algorithm can be applied.

The present invention has been made in view of such unresolved problems of the prior art, and seeks a high-accuracy transfer function filter without causing a significant increase in calculation load. It is an object of the present invention to provide an active noise and vibration control device that can perform the control.

[0010]

In order to achieve the above object, an invention according to claim 1 comprises a control sound source or a control vibration source capable of generating a control sound or a control vibration that interferes with noise or vibration; Residual noise detecting means or residual vibration detecting means for detecting the residual noise or residual vibration after the output and outputting as a residual noise signal or residual vibration signal, and generating a reference signal for detecting the state of occurrence of the noise or vibration and outputting as a reference signal Means, and control means for generating and outputting a drive signal for driving the control sound source or the control vibration source in accordance with an adaptive algorithm based on the residual noise signal or residual vibration signal and the reference signal, and the adaptive algorithm, A transfer function filter that models a transfer function between a control sound source or a control vibration source and the residual noise detection unit or the residual vibration detection unit may be used. In the active noise and vibration control device, the divergence detection means for detecting that the control has diverged, the divergence frequency detection means for detecting the frequency at which the divergence has occurred as the divergence frequency, and the divergence when the divergence occurs A divergence suppressing unit that suppresses divergence by adjusting the divergence frequency component of each frequency component of the transfer function filter.

According to a second aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect,
A split transfer function filter obtained by splitting the transfer function filter at least with respect to a frequency component in which the divergence may occur, wherein the divergence suppressing unit is configured to calculate the split transfer function corresponding to the divergence frequency from the current transfer function filter A filter is subtracted, and the divided transfer function filter corresponding to the divergent frequency is converted in phase and added to generate a new transfer function filter.

According to a third aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect of the present invention, there is provided a divided transfer function filter obtained by dividing the transfer function filter for each frequency component. The divergence suppressing unit converts a phase of only the divided transfer function filter corresponding to the divergence frequency, and then adds each of the divided transfer function filters to generate a new transfer function filter.

According to a fourth aspect of the present invention, in the active noise and vibration control apparatus according to the first aspect of the present invention, the transfer function filter is divided into at least the frequency components in which the divergence may occur. A transfer function filter is provided, and the divergence suppressing means generates a new transfer function filter by subtracting the divided transfer function filter corresponding to the divergence frequency from the transfer function filter at the present time.

According to a fifth aspect of the present invention, there is provided the active noise and vibration control apparatus according to the first aspect,
A split transfer function filter obtained by splitting the transfer function filter for each frequency component, wherein the divergence suppressing unit adds the split transfer function filters except for the split transfer function filter corresponding to the divergent frequency and newly adds the split transfer function filters; A new transfer function filter.

According to a sixth aspect of the present invention, in the active noise and vibration control apparatus according to the first to fifth aspects, the divergence detecting means includes the residual noise signal or the residual vibration signal or the drive signal. Band-pass filter means for band-pass filtering the
Divergence determination means for determining whether or not divergence has occurred based on the processing result of the filter means, wherein the divergence frequency detection means determines when the divergence determination means determines that divergence has occurred. The divergence frequency is detected based on the pass frequency band of the band-pass filter based on the above and the fundamental frequency of the reference signal.

According to a seventh aspect of the present invention, in the active noise and vibration control apparatus according to the sixth aspect,
The divergence frequency detection means may detect, as the divergence frequency, a frequency that is an integral multiple of the fundamental frequency of the reference signal among the frequencies included in the pass frequency band of the band-pass filter based on the determination. did.

Here, in the invention according to claim 1,
The reference signal generation means generates a reference signal indicating a noise generation state, while the residual noise detection means or residual vibration detection means detects residual noise or residual vibration to generate a residual noise signal or residual vibration signal. Then, the control means generates a drive signal according to the adaptive algorithm based on the reference signal and the residual noise signal or the residual vibration signal, and the generated drive signal is supplied to the control sound source or the control vibration source to control the control sound or the control vibration. Occurs.

The divergence detection means detects that the control has diverged, and the divergence frequency detection means detects the frequency at which the control has diverged as the divergence frequency. Then, the divergence suppressing unit adjusts a component corresponding to the divergence frequency among the frequency components of the transfer function filter so that the divergence is suppressed. That is, in the invention according to the first aspect, divergence of control is suppressed by adjusting only a specific frequency component of the transfer function filter instead of adjusting the entire transfer function filter.

The divergence of control mainly occurs when the level of the component corresponding to the fundamental order component or the higher order component of the noise or vibration to be reduced out of the control sound or control vibration emitted from the control sound source or control vibration source is extremely large. Although it is an increasing phenomenon, one of the major reasons for the divergence is that the adaptive algorithm used by the control means for generating the drive signal is controlled by the control sound source or the control vibration source and the residual noise detection means or the residual vibration detection means. This is because a transfer function filter that models the transfer function between. That is, the transfer function between the control sound source or the control vibration source and the residual noise detection means or the residual vibration detection means may change under the influence of a physical change such as deterioration with time of the control sound source or the control vibration source. That is, if the transfer function changes from the initial state, the accuracy of the transfer function filter, which was initially high, will be reduced. It has been confirmed by the present inventors through experiments and the like that the change of the transfer function does not occur all over the entire frequency band but occurs at a specific frequency.

Since the control means generates the drive signal based on the reference signal, the control means generates a drive signal capable of reducing noise or vibration at the fundamental frequency of the reference signal and its higher order frequency. be able to. For this reason,
If the accuracy of the transfer function filter decreases at a specific frequency and the specific frequency matches or substantially matches the fundamental frequency of the reference signal or its higher order frequency, many frequency components that do not contribute to noise or vibration reduction are increased. The generated control sound or control vibration is generated, and this is taken into the control means as a residual noise signal or a residual vibration signal, which adversely affects the generation processing of the drive signal and removes frequency components that do not contribute to the reduction of noise or vibration. A control sound or control vibration including a larger amount is generated, causing a vicious cycle of ..., and the control is diverged.

Therefore, if the divergence suppressing means appropriately adjusts only the specific frequency component whose control has diverged among the respective frequency components of the transfer function filter, the control can be performed more reliably. Divergence can be suppressed. That is, as in the prior art described in the above publication,
If you simply change the phase of the transfer function filter,
Since the phase also changes for frequency components for which control has not diverged, that is, for which accuracy has not been reduced, divergence may not be reliably suppressed.

According to the second aspect of the present invention, the divergence suppressing means subtracts the divided transfer function filter corresponding to the divergence frequency from the transfer function filter, and the phase is appropriately converted to the result of the operation. Is performed, and only the phase of the component corresponding to the divergent frequency among the frequency components of the transfer function filter is converted. That is, among the frequency components of the transfer function filter, only the component of the divergent frequency is adjusted, so that the effect of the invention according to claim 1 is reliably exhibited.

In the invention according to claim 3,
The divergence suppressing unit generates a transfer function filter by adding the divided transfer function filters. When adding the divided transfer function filters, the divergence suppressing unit converts only the phase of the divided transfer function filter corresponding to the divergence frequency. Therefore, in the generated transfer function filter, only the component of the divergence frequency is adjusted. Therefore, even with the invention according to claim 3, the effect of the invention according to claim 1 is reliably exhibited. You.

Further, in the invention according to claim 4,
The divergence suppressing means performs an operation of subtracting the divided transfer function filter corresponding to the divergence frequency from the transfer function filter,
Since a new transfer function filter is generated, only a component corresponding to a divergent frequency is removed from each frequency component of the transfer function filter. In other words, since the adjustment is performed such that only the component corresponding to the divergence frequency whose accuracy has been reduced is removed from the transfer function filter, the operation of the invention according to the first aspect is ensured even in the invention according to the fourth aspect. Be demonstrated.

Further, in the invention according to claim 5, the divergence suppressing means generates a transfer function filter by adding the divided transfer function filters. When adding the divided transfer function filters, The split transfer function filter corresponding to the divergence frequency is excluded. For this reason, the generated transfer function filter does not include only the component of the divergent frequency, so that even with the invention according to claim 5, the effect of the invention according to claim 1 is reliably exhibited. Is done.

On the other hand, the divergence of the control is a phenomenon in which the level of the control sound or the control vibration emitted from the control sound source or the control vibration source extremely increases as described above. Also, the level of the residual noise signal or residual vibration signal similarly increases. Therefore, when the divergence determining means of the divergence detecting means is based on the processing result of the band-pass filter means, the divergence of the control can be detected.

When the control diverges, the level which increases increases is a component corresponding to the fundamental order component or higher order component of the noise or vibration to be reduced. Therefore, as in the invention according to claim 6, the divergence frequency detecting means is a band-pass filter serving as a basis for determination when the divergence determining means determines that divergence has occurred, that is, when the output level is not diverged. The divergent frequency can be detected on the basis of the band frequency of the band-pass filter, which has been increased more than that, and the fundamental frequency of the reference signal. For example, as in the invention according to claim 7, among the frequencies included in the pass frequency band of the band-pass filter used as the basis of the determination, a frequency that is an integral multiple of the fundamental frequency of the reference signal is detected as the diverging frequency. Can be.

[0028]

As described above, according to the present invention,
When the divergence occurs, the divergence is suppressed by adjusting the divergence frequency component of each frequency component of the transfer function filter, so that the transfer function filter can be highly modified without significantly increasing the cost. There is an effect that the divergence can be suppressed with accuracy and in a short time.

In particular, according to the second to fifth aspects of the present invention,
Since only the divergence frequency component of each frequency component of the transfer function filter can be reliably adjusted, the transfer function filter capable of suppressing divergence can be surely corrected.

Further, according to the invention of claim 6 or 7, there is an effect that the divergence and the divergence frequency can be detected easily and reliably.

[0031]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 to 6 show a first embodiment of the present invention. FIG. 1 shows a vehicle to which an active vibration control device according to an embodiment of the active noise vibration control device according to the present invention is applied. It is a schematic side view of.

First, the structure will be described. The engine 30 is supported by a vehicle body 35 composed of a suspension member and the like via an active engine mount 1 capable of generating an active supporting force according to a drive signal. . Actually, between the engine 30 and the vehicle body 35, in addition to the active engine mount 1, a plurality of engine mounts that generate a passive supporting force according to the relative displacement between the engine 30 and the vehicle body 35 are interposed. doing. As a passive engine mount, for example, a normal engine mount that supports a load with a rubber-like elastic body, or a known fluid-filled mount in which a fluid is sealed inside a rubber-like elastic body so that a damping force can be generated. An insulator or the like can be applied.

On the other hand, the active engine mount 1 is configured, for example, as shown in FIG. That is, the active engine mount 1 according to this embodiment has a cap 2 integrally provided with a bolt 2a for attachment to the engine 30 at the upper part and having a hollow inside and an open lower part. , The upper end of the inner cylinder 3 whose shaft is oriented in the vertical direction is fixed by caulking.

The inner cylinder 3 has a shape in which the diameter at the lower end is reduced, and the lower end is horizontally bent inward.
Here, a circular opening 3a is formed. A diaphragm 4 is disposed inside the inner cylinder 3 so as to be interposed between the cap 2 and the caulking prevention portion of the inner cylinder 3 so as to divide the space inside the cap 2 and the inner cylinder 3 up and down. I have. The space above the diaphragm 4 communicates with the atmospheric pressure by making a hole in the side surface of the cap 2.

Further, an orifice structure 5 is disposed inside the inner cylinder 3. In the present embodiment, between the inner surface of the inner cylinder 3 and the orifice constituting member 5, an elastic body in the form of a thin film (the outer peripheral portion of the diaphragm 4 may be extended).
, Whereby the orifice structure 5 is firmly fitted inside the inner cylinder 3.

The orifice structure 5 is formed in a substantially cylindrical shape in alignment with the internal space of the inner cylinder 3, and has a circular recess 5a formed on the upper surface thereof. The recess 5a and the portion of the bottom surface facing the opening 3a communicate with each other via the orifice 5b. The orifice 5b has, for example, a groove spirally extending along the outer peripheral surface of the orifice structure 5, and one end of the groove formed by a recess 5a.
And a flow path that connects the other end of the groove to the opening 3a.

On the other hand, on the outer peripheral surface of the inner cylinder 3, the inner peripheral surface of a thick cylindrical supporting elastic body 6 whose inner peripheral surface side is slightly raised upward is vulcanized and bonded. The outer peripheral surface is vulcanized and bonded to the upper part of the inner peripheral surface of the outer cylinder 7 as a cylindrical member whose upper end is enlarged in diameter.

The lower end of the outer cylinder 7 is fixed by caulking to the upper end of a cylindrical actuator case 8 having an open upper surface, and the lower end of the actuator case 8 is used for mounting to the vehicle body 35 side. The mounting bolt 9 protrudes. The mounting bolt 9 is accommodated in a central hollow portion 8b of a flat plate member 8a provided with its head 9a attached to the inner bottom surface of the actuator case 8.

Further, inside the actuator case 8, a cylindrical iron yoke 10A and this yoke 10A
An excitation coil 10B wound around the center of the yoke with its axis up and down, and a permanent magnet 1 fixed with its poles up and down on the upper surface of a portion of the yoke 10A surrounded by the excitation coil 10B.
0C is provided.

The upper end of the actuator case 8 is a flange 8A formed in a flange shape.
The lower end portion of the outer cylinder 7 is swaged by the flange portion 8A, and the both are integrated. The peripheral portion (end portion) of the circular metal leaf spring 11 is sandwiched in the swaging preventing portion. A magnetic path member 12 that can be magnetized is fixed to a center portion of the leaf spring 11 on the side of the electromagnetic actuator 10 by a rivet 11a. The magnetic path member 12
Is an iron disk slightly smaller in diameter than the yoke 10A,
The bottom surface is formed so as to have a thickness close to the electromagnetic actuator 10.

Further, the ring-shaped thin film elastic body 13 and the flange portion 14a of the force transmitting member 14 are sandwiched between the flange portion 8A and the leaf spring 11 at the crimp-stopping portion.
And are supported. Specifically, the thin film elastic body 13, the flange portion 14a of the force transmitting member 14, and the leaf spring 11 are superimposed on the flange portion 8A of the actuator case 8 in this order, and The lower end of 7 is caulked and integrated.

The force transmitting member 14 is a short cylindrical member surrounding the magnetic path member 12, and has an upper end portion serving as a flange portion 14 a and a lower end portion provided on the upper surface of the yoke 10 A of the electromagnetic actuator 10. Are combined. Specifically, the lower end of the force transmitting member 14 is fitted into a circular groove formed in the peripheral edge of the upper end surface of the yoke 10A, and the two are joined. The spring constant of the force transmitting member 14 during elastic deformation is set to a value larger than the spring constant of the thin film elastic body 13.

Here, in the present embodiment, the supporting elastic member 6
A fluid chamber 15 is formed in a portion defined by the lower surface of the plate spring 11 and the upper surface of the leaf spring 11, and a sub-fluid chamber 16 is formed in a portion defined by the diaphragm 4 and the concave portion 5a. The fluid chambers 16 communicate with each other via an orifice 5b formed in the orifice structure 5. A fluid such as oil is sealed in the fluid chamber 15, the sub-fluid chamber 16, and the orifice 5b.

The characteristics of the fluid mount determined by the flow path shape and the like of the orifice 5b include a high dynamic spring constant when an engine shake occurs during running, that is, when the active engine mount 1 is vibrated at 5 to 15 Hz. It is adjusted to show high damping force.

The exciting coil 10B of the electromagnetic actuator 10 generates a predetermined electromagnetic force according to a drive signal y which is a current supplied from the controller 25 through the harness 23a. Controller 25
Is composed of a microcomputer, necessary interface circuits, A / D converters, D / A converters, amplifiers, etc., and generates idle vibrations, muffled vibrations, and acceleration vibrations which are higher in frequency than the engine shake. When input to the vehicle body 35, an active supporting force capable of reducing the vibration is generated in the active engine mount 1.
A drive signal y for the active engine mount 1 is generated and output.

Here, the idle vibration and the muffled sound vibration are as follows.
For example, in the case of a reciprocating four-cylinder engine,
The main cause is that the engine vibration of the next component is transmitted to the vehicle body 35. Therefore, if the drive signal y is generated and output in synchronization with the engine rotation secondary component, the vehicle body-side vibration can be reduced. . Therefore, in the present embodiment, the engine 30
(For example, in the case of a reciprocating four-cylinder engine, one pulse signal is generated every time the crankshaft rotates 180 degrees) and a pulse signal generator 26 is provided which outputs the impulse signal as a reference signal x. The reference signal x is supplied to the controller 25 as a signal indicating the state of occurrence of vibration in the engine 30.

On the other hand, the yoke 1 of the electromagnetic actuator 10
0A and the upper surface of the flat plate member 8a forming the bottom surface of the actuator case 8,
A load sensor 22 for detecting an exciting force transmitted from the engine 30 through the support elastic body 6 is provided, and a detection result of the load sensor 22 is supplied to the controller 25 as a residual vibration signal e through a harness 23b. ing. Specifically, as the load sensor 22, a piezoelectric element, a magnetostrictive element, a strain gauge, or the like can be applied.

Then, based on the supplied residual vibration signal e and reference signal x, the controller 25 performs a synchronous Filtered-X LMS which is one of adaptive algorithms.
By executing the algorithm, a drive signal y for the active engine mount 1 is calculated, and the drive signal y is calculated.
Is output to the active engine mount 1.

Specifically, the controller 25 has an adaptive digital filter W having a variable filter coefficient W _i (i = 0, 1, 2,..., I-1: I is the number of taps). At a predetermined sampling clock interval from the time when the reference signal x is input, the adaptive digital filter W
Are sequentially output as the drive signal y, and a process of appropriately updating the filter coefficient W _i of the adaptive digital filter W based on the reference signal x and the residual vibration signal e is executed.

The updating equation of the adaptive digital filter W is F
The following equation (1) is obtained according to the filtered-X LMS algorithm. _{W i (n + 1) =} W i (n) -μR T e (n) ...... (1) where, indicates that the value in (n), (n + 1 ) term is attached is sampling time n, n + 1, μ is a convergence coefficient. The update reference signal R ^T is theoretically expressed as
The reference signal x is a value obtained by filtering the transfer function C between the electromagnetic actuator 10 and the load sensor 22 of the active engine mount 1 with a transfer function filter C ＾ modeled by a finite impulse response type filter. Is "1", which is equal to the sum of the impulse response waveforms at the sampling time n when the impulse responses of the transfer function filter C # are successively generated in synchronization with the reference signal x.

Theoretically, the reference signal x is filtered by the adaptive digital filter W to generate the drive signal y. However, since the magnitude of the reference signal x is "1", the filter coefficient W _{Even if i} is sequentially output as the drive signal y, the result is the same as when the result of the filter processing is set as the drive signal y.

The calculations in the controller 25 are actually executed in the microprocessor, but the functional configuration thereof is shown in a block diagram in FIG. That is, the controller 25 includes the drive signal generation unit 25A that sequentially outputs the filter coefficient W _i of the adaptive digital filter W as the drive signal y from the time when the reference signal x is input, and the reference signal x and the transfer function filter C ＾. and updating the reference signal calculation unit 25B for calculating the updated reference signal R ^T convolved, each filter coefficient of the adaptive digital filter W according to the above (1) based on the updated reference signal R ^T and the residual vibration signal e It has a filter coefficient updating unit 25C, the updating of W _i.

The controller 25 further includes a divergence detecting section 25D for detecting that the control is diverging based on the residual vibration signal e, and a divergence based on the detection result of the divergence detecting section 25D and the reference signal x. A divergence frequency detection unit 25E for obtaining a divergence frequency f _D from a generated frequency, and a component corresponding to the divergence frequency f _D among the frequency components of the transfer function filter C ＾ when the divergence detection unit 25D detects the divergence of the control. Function filter correction unit 25F that converts the phase of
And

The divergence detecting section 25D includes a plurality of band-pass filter processing sections for filtering the residual vibration signal e so that the respective pass frequency bands are different, and the processing results of the band-pass filter processing sections are obtained. If at least one of the levels exceeds a predetermined threshold value _eth , it is determined that divergence has occurred in the control. That is, the divergence of the control in the active vibration control apparatus as in the present embodiment is a phenomenon in which the vibration level on the member 35 side is increased by the control vibration generated from the active engine mount 1, and thus the residual vibration is generated. The divergence of the control can be detected based on the level of the signal e.

The divergence frequency detector 25E is provided with the divergence detector 2
If it is determined in 5D that at least one level of the processing result of the band-pass filter processing unit exceeds a predetermined threshold value _eth , that is, if it is detected that control is diverged, the processing is performed. results and pass the frequency band f _L ~f _U bandpass filtering unit which is determined to exceed the threshold value e _th, seen from the generation interval of the reference signal x to the frequency f _x of the reference signal x based on, so as to detect the diverging frequency f _D.

That is, the divergence of the control is a phenomenon in which the level of the component corresponding to the fundamental order component or the higher-order component of the vibration to be reduced is extremely increased. It is very likely that it is an integral multiple of the fundamental frequency of the vibration. Then, as in the present embodiment, if the divergence detector 25D is adapted to detect a divergence of control based on the processing result of the band-pass filter processing section, diverging frequency f _D is at least the processing result is Threshold e
It is clear that the signal is present in the pass frequency bands f _{L to} f _{U of} the band-pass filter processing unit determined to exceed _th . On the other hand, the fundamental frequency of the vibration, because none other than the frequency f _x of the reference signal x, an integer multiple of the frequency of the frequency f _x existing in its passing frequency band f _L ~f _U, and diverging frequency f _D It can be certified.

Then, the transfer function filter correction unit 25F
, Of the transfer function filter C ^ each frequency component of, by adjusting only the phase component corresponding to the diverging frequency f _D, to eliminate the inaccuracy of the transfer function filter C ^, suppress divergence of the control It has become. Specifically, the controller 25, in addition to the transfer function filter C ＾, a plurality of divided transfer function filters C ＾ (f ₁ ) to C ＾ (f _N ) obtained by dividing the transfer function filter C ＾ for each frequency component. ) Is remembered. However, in this embodiment, the divided transfer function filters C ＾ (f ₁ ) to C ＾ (f _N ) are provided for all frequencies in the entire frequency band necessary for actual vibration reduction control.
Instead of storing the split transfer function filter for frequencies where control divergence is likely to occur, the split transfer function filter is stored for frequencies where control divergence is extremely unlikely to occur. However, this saves the storage area in the controller 25. The frequency at which control divergence is likely to occur can be determined by an endurance experiment, simulation, or the like in which the active engine mount 1 is overloaded.

That is, the transfer function filter C ＾, which is a finite impulse response type digital filter, is, for example, as shown in FIG.
The waveform is as shown in FIG.
If the result is subjected to inverse FFT for each frequency component and returned to the time axis model, a plurality of split transfer function filters C ＾ (f ₁ ), as illustrated in FIG.
C ＾ (f ₂ ), C ＾ (f ₃ ),... C ＾ (f _N ). Therefore, the original transfer function filter C ＾ is obtained by adding the divided transfer function filters.
Then, the controller 25 selects, from among the plurality of divided transfer function filters C ₁ (f ₁ ) to C ＾ (f _N ) obtained by the above-described FFT and inverse FFT, a filter having a high possibility that control divergence occurs. I remember.

Then, the transfer function filter correction unit 25F
The divergence detector 25D detects the divergence control, when the diverging frequency detecting unit 25 detects the diverging frequency f _D is divided transfer function filter C corresponding to the diverging frequency f _D from the transfer function filter C ^ ^ (F _D ) is subtracted, and the result of the subtraction is added to the phase-converted divided transfer function filter C ＾.
By adding (f _D ) ′, a new corrected transfer function filter C ＾ is generated.

The controller 25 stores the divided transfer function filter C フ ィ ル タ (f _D ) ′ whose phase has been converted by the transfer function filter correction unit 25F as a new divided transfer function filter C ＾ (f _D ). It has become. The correction of the transfer function filter C # in the transfer function filter correction unit 25F is repeatedly executed until the divergence of the control is eliminated.

The phase conversion of the divided transfer function filter C ＾ (f _D ) performed by the transfer function filter correction unit 25F is conversion in the direction in which the phase advances in the present embodiment. The reason for this is that the accuracy of the transfer function filter C ＾ is reduced by the active elastic mount 6 and the like of the active engine mount 1 in the case of the active vibration control device using the active engine mount 1 as in the present embodiment. The main cause is the change of the actual transfer function due to the deterioration of the rubber-like part in the curing direction,
This is because when the supporting elastic body 6 and the like are hardened, the resonance frequency increases, and the phase of the actual transfer function changes in the advancing direction.

To advance the phase of the divided transfer function filter C ＾ (f _D ) actually means that the divided transfer function filter C ＾ (f _D ) is represented by a sequence on the time axis.
For example, these sequences are shifted one by one such that the phase advances on the time axis. For example, if the split transfer function filter C ＾ (f _D ) is {C ＾ ₁ , C ＾ ₂ , C ＾ ₃ ,.
In the case of the sequence { _n }, the split transfer function filter C ＾ (f _D ) advanced by one phase on the time axis is {C ＾
₂ , C ＾ ₃ , C ＾ ₄ ,..., C ＾ _n , C ＾ ₁ ＾.

Next, the operation of this embodiment will be described. That is, when the engine shake occurs, the flow path shape of the orifice 5a and the like are appropriately selected. As a result, the active engine mount 1 functions as a supporting device having a high dynamic spring constant and a high damping force. The engine shake is damped by the active engine mount 1, and the vibration level on the vehicle body 35 side is reduced. It is not necessary to positively displace the movable plate 12 with respect to the engine shake.

On the other hand, when the fluid in the orifice 5a is in a stick state and a vibration having a frequency higher than the idle vibration frequency at which the fluid cannot move between the fluid chamber 15 and the sub-fluid chamber 16 is inputted, the controller The reference numeral 25 executes a predetermined arithmetic processing, outputs a drive signal y to the electromagnetic actuator 10, and causes the active engine mount 1 to generate an active supporting force capable of reducing vibration.

This will be described in detail with reference to FIG. 5 which is a flowchart showing the outline of the processing executed in the controller 25 when the idle vibration and the muffled sound vibration are input.
First, after a predetermined initial setting is performed in step 101, the process proceeds to step 102, where an update reference signal R ^T is calculated based on the transfer function filter C ＾. In this step 102, the update reference signal ^RT for one cycle is calculated collectively.

Then, the process proceeds to step 103, and after the counter i is cleared to zero, the process proceeds to step 104,
I-th filter coefficient W _{i of the} adaptive digital filter W
Is output as the drive signal y.

After outputting the drive signal y in step 104, the process proceeds to step 105, where the residual vibration signal e is read. This residual vibration signal e is stored together with the current value of the counter i.

[0068] Then, the process proceeds to step 106, counter j is zero cleared, then the process proceeds to step 107, j-th filter coefficient W _j of the adaptive digital filter W is updated in accordance with the equation (1).

When the updating process in step 107 is completed, the process proceeds to step 108, where it is determined whether or not the next reference signal x has been input. If it is determined that the reference signal x has not been input, Then, the process proceeds to step 109 in order to update the next filter coefficient of the adaptive digital filter W or output the drive signal y.

In step 109, it is determined whether or not the counter j has reached the number of outputs T _y (more precisely, since the counter j starts from 0, a value obtained by subtracting 1 from the number of outputs T _y ). This determination after outputting the filter coefficient W _i of the adaptive digital filter W as the drive signal y in step 104, the filter coefficient W _i of the adaptive digital filter W, whether to update the necessary number as the drive signal y It is for judgment. Therefore, if the determination in step 109 is “NO”, step 11
After incrementing the counter j by 0, step 1
Returning to step 07, the above processing is repeatedly executed.

However, the determination in step 109 is "YE
In the case of "S", it can be determined that the update processing of the necessary number of filter coefficients as the drive signal y among the filter coefficients of the adaptive digital filter W has been completed.
After incrementing the counter i, the process waits until the time corresponding to the predetermined sampling clock interval elapses after executing the processing in step 104, and when the time corresponding to the sampling clock elapses, Then, the process returns to step 104 to repeatedly execute the above-described processing.

On the other hand, if it is determined in step 108 that the reference signal x has been input, the process proceeds to step 112, and the counter i (exactly, since the counter i starts from 0, 1 is added to the counter i). _Is stored as the latest output count Ty, and the process returns to step 102 to repeatedly execute the above-described processing.

As a result of repeatedly executing the processing of FIG. 5, the active engine mount 1
From the time when the reference signal x is input to the electromagnetic actuator 10 at an interval of the sampling clock.
The filter coefficients W _i of the adaptive digital filter W are sequentially supplied as drive signals y.

As a result, the drive signal y is supplied to the exciting coil 10B.
However, since a constant magnetic force is already applied to the magnetic path member 12 by the permanent magnet 10C,
It can be considered that the magnetic force of the exciting coil 10B acts to increase or decrease the magnetic force of the permanent magnet 10C. That is, when the drive signal y is not supplied to the excitation coil 10B, the magnetic path member 12 is displaced to a neutral position where the support force of the leaf spring 11 and the magnetic force of the permanent magnet 10C are balanced. When the drive signal y is supplied to the excitation coil 10B in this neutral state, if the magnetic force generated in the excitation coil 10B by the drive signal y is in the opposite direction to the magnetic force of the permanent magnet 10C, the magnetic path member 12
Is displaced in a direction in which the clearance with the electromagnetic actuator 10 increases. Conversely, if the magnetic force generated in the exciting coil 10B is in the same direction as the magnetic force of the permanent magnet 10C, the magnetic path member 12 is displaced in a direction in which the clearance with the electromagnetic actuator 10 decreases.

As described above, the magnetic path member 12 can be displaced in both the forward and reverse directions, and if the magnetic path member 12 is displaced, the main fluid chamber 15 is displaced.
Is changed, and the expansion spring of the support elastic body 6 is deformed by the change of the volume, so that the active engine mount 1 generates an active support force in both forward and reverse directions.

Then, each filter coefficient W _i of the adaptive digital filter W serving as the drive signal y is determined by a synchronous filter
Since the sequentially updated by according to red-X LMS algorithm described above (1), after the convergence to the optimal values each filter coefficient W _i of the adaptive digital filter W has passed a certain time, the drive signal y is By being supplied to the active engine mount 1, idle vibration and muffled sound vibration transmitted from the engine 30 to the vehicle body 35 via the active engine mount 1 are reduced.

On the other hand, in the controller 25, the processing by the divergence detection unit 25D, the divergence frequency detection unit 25E, and the transfer function filter correction unit 25F shown in FIG. 3, that is, the divergence detection process and the transfer function filter correction process shown in FIG. Is to be executed. The divergence detection processing and the transfer function filter correction processing are executed substantially in parallel with the vibration reduction processing shown in FIG. 5 by, for example, a time sharing method.

That is, when the processing of FIG. 6 is executed, first, in step 201, the residual vibration signal e is subjected to each band-pass filter processing, and the level of the residual vibration signal e for each pass frequency band of the band-pass filter is set. Is required.
Next, the process proceeds to step 202, where the bandpass
It is determined whether at least one of the filtering results exceeds a predetermined threshold value _eth corresponding to the level of the residual vibration signal e when the control is diverged. If the determination in step 201 is “NO”, that is, if the results of all band-pass filtering processes are equal to or _smaller than the threshold value _eth, it is determined that the transfer function filter C ＾ does not need to be modified, The process of FIG. 6 is ended as it is.

However, the determination in step 201 is “YE
In the case of "S", it is determined that divergence has occurred, and the routine proceeds to step 203. In step 203, the frequency f of the reference signal x is determined based on the input interval of the reference signal x.
Calculate _x .

[0080] Then, the process proceeds to step 204, based on the passing frequency band f _L ~f _U bandpass filter which became the basis of the divergence detection in step 201 to 202, the frequency f _X of the reference signal x, computing a divergence frequency f _D. Of the frequencies in the pass frequency bands f _{L to} f _U , a frequency that is an integral multiple (1 time, 2 times, 3 times,...) Of the reference signal x is defined as a divergent frequency f _D. By the frequency f _x of the pass frequency band width and a reference signal x of the band pass filter, there is a case where the frequency corresponding to the diverging frequency f _D there are a plurality, in such a case, a plurality of frequencies each may be elected as a divergent frequency f _D.

Then, the flow shifts to step 205, where the divergence frequency f of the transfer function filter C ＾ is calculated according to the following equation (2).
Modify the component of _D. C ＾ = C ＾ −C ＾ (f _D ) + C ＾ (f _D ) ′ (2) In the expression (2), C ＾ (f _D ) ′ is a divided transfer function filter C ＾ (f _D ) Is advanced by one phase. After the calculation in step 205 is performed,
Phase-advanced split transfer function filter C ＾ (f _D ) ′
Is stored as a new split transfer function filter C ＾ (f _D ). When the process of step 205 is completed, FIG.
Since the processing of FIG. 6 is always executed, the correction processing of the transfer function filter C # in steps 203 to 205 is repeatedly executed until the determination in step 202 becomes "NO". , Transfer function filter C
The component of the divergence frequency f _D of ＾, until divergence is suppressed,
That is, the correction is sequentially made until the deviation between the transfer function filter C ＾ and the actual transfer function becomes extremely small.

For example, the initial transfer function filter C ＾ has a waveform as shown in FIG. 4B, and each divided transfer function filter C フ ィ ル タ (f ₁ ) to C ＾ (f _N ) has the waveform shown in FIG. It is assumed that the determination at step 202 in FIG. 6 is “YES” and the divergence frequency f _D obtained at step 204 is the frequency f ₃ when the waveform is as shown in FIG.

Then, in step 205, the divided transfer function filter C ＾ (f ₃ ), which is also a sequence on the time axis, is subtracted from the transfer function filter C ＾, which is a sequence on the time axis, and the result of the subtraction is as follows: As shown in FIG. 4C, each sequence representing the divided transfer function filter C ＾ (f ₃ ) is shifted by one in the direction in which the phase advances, and a divided transfer function filter C ＾ (f ₃ ) ′ is added. Thus, a new transfer function filter C ＾ is generated, and this new transfer function filter C ＾ is used in the subsequent processing in step 102 of FIG.

As described above, in the present embodiment, the divergence detection processing and the transfer function filter correction processing are executed in parallel with the vibration reduction control, and the transfer function filter correction processing is performed as described above. , Subtraction, addition, and shift of a sequence. As a result, the transfer function C
Is changed, the transfer function filter C ＾ that is corrected by following the change of the transfer function C with high accuracy is used for the vibration reduction control, so that good vibration reduction control can be executed. It is. Moreover, an expensive microprocessor or the like that can perform high-speed processing is not particularly required.

In this embodiment, in addition to the transfer function filter C フ ィ ル タ, the necessary divided transfer function filter C ＾ (f
₁ ) Since C ＾ (f _N ) is stored, the components corresponding to the divergence frequency f _D among the respective frequency components of the transfer function filter C で can be obtained by simple operations such as subtraction and addition as described above. Can be converted only. If only the transfer function filter C ＾ is stored, the transfer function filter C ＾
In order to convert only the phase of the frequency component having the characteristic of, the transfer function filter C ＾ is subjected to FFT processing to extract each frequency component, and after the phase of a specific frequency component is converted, the inverse FFT is performed.
Then, a series of processing of returning to the time axis is required, so that the number of calculations becomes large as compared with the case of the present embodiment.

Further, when the transfer function filter C ＾ is modified, for example, there is no need to generate test vibration from the active engine mount 1, so that there is an advantage that occupants do not feel uncomfortable.

Further, in this embodiment, the synchronous filtered-X LM using the reference signal x as an impulse train
Although the S algorithm is applied, the reference signal x, which is an impulse train, includes a high frequency component in addition to the fundamental frequency, and therefore, the high frequency component must be considered. For example, if the sampling frequency is set to a low value, it is not necessary to consider a high frequency in particular. For this purpose, a low-pass filter having a cutoff frequency equal to or less than half the sampling frequency is required. However, in practice, the pass characteristic around the desired cutoff frequency cannot be changed steeply unless the filter order of the low-pass filter is increased, but the calculation load increases as the filter order of the low-pass filter increases. turn into. Therefore, in order to avoid an increase in computational load, the actual cutoff frequency of the low-pass filter is set to a frequency lower than the desired cutoff frequency. Has become larger,
If the phase of the transfer function filter C ＾ is shifted at a specific frequency, the phase shift is further increased, and the control is likely to be unstable. In other words, when the synchronous Filtered-X LMS algorithm is applied as the control algorithm, it is weight to maintain the transfer function filter C 高 with high accuracy. Therefore, as shown in this embodiment, FIG. The configuration for executing the divergence detection process and the transfer function filter correction process as described above is particularly suitable for an active vibration control device using a synchronous Filtered-X LMS algorithm.

Further, since the bandpass filter used for divergence detection is outside the system including the transfer function filter C ＾, it does not affect the stability of control. In the present embodiment, since the load sensor 22 is used as a means for detecting the vibration transmitted to the vehicle body 35 through the active engine mount 1, the residual vibration signal accurately representing the magnitude of the vibration amplitude. e to the controller 25
There is also the advantage that it can be supplied to Accordingly, the controller 25 generates and outputs a drive signal y that accurately reflects the magnitude of the vibration amplitude, and the electromagnetic actuator 10 displaces the movable plate 12 with an amplitude proportional to the vibration amplitude. Can be. Therefore, the idle vibration (20
Good vibration reduction control can be performed over the entire control frequency band from ３０30 Hz) to muffled sound vibration (80 to 800 Hz).

Further, since the load sensor 22 is built in the active engine mount 1 so that the tightening force of the bolt 9 is not applied to the load sensor 22, the load resistance condition of the load sensor is reduced, and the size of the load sensor is reduced. The load sensor 22 can be adopted, and is very suitable for the active engine mount 1 having a small space allowance, and is advantageous in cost. In addition, if the load sensor 22 is integrated with the active engine mount 1, there is an advantage that the time and effort required for actually mounting the load sensor 22 on a vehicle can be reduced, so that the efficiency of the production line can be improved.

Here, in the present embodiment, the active engine mount 1 corresponds to the control vibration source, the pulse signal generator 26 corresponds to the reference signal generation means, and the drive signal generation section 25A in the controller 25 is updated. Reference signal calculator 25
B, the filter coefficient updating unit 25C and the processing in FIG. 5 correspond to the control unit, the load sensor 22 corresponds to the residual vibration detecting unit, and the divergence detecting unit 25D in the controller 25 and the processing in steps 201 and 202 in FIG. 6 corresponds to the divergence detection means, and the processing of steps 203 and 204 in FIG. 6 corresponds to the divergence frequency detection means. The transfer function filter correction section 25F in the controller 25 and step 205 in FIG. Corresponds to the divergence suppressing means, and the processing of step 201 in FIG.
The processing of step 202 in FIG. 6 corresponds to the divergence determination means, corresponding to the filter means.

FIG. 7 is a diagram showing the second embodiment of the present invention, and is a flow chart showing the divergence detecting process and the transfer function filter correcting process as in FIG. 6 of the first embodiment. Since the overall configuration and vibration reduction processing of the active vibration control device are the same as those in the first embodiment, illustration and description thereof are omitted, and during the processing in FIG. 7, the processing is the same as the processing in FIG. Are given the same reference numerals, and duplicate description thereof is omitted.

That is, in this embodiment, step 204
If the divergence frequency f _D is detected in the processing of
Proceeds to 1, to modify the components of the transfer function filter C ^ divergent frequency f _D of the equation (3) below.

C ＾ = C ＾ −C ＾ (f _D ) (3) That is, in the present embodiment, the divided transfer function filter corresponding to the divergent frequency f _D is obtained from the transfer function filter C ＾ currently in use. By subtracting C フ ィ ル タ (f _D ), a new transfer function filter C ＾ is generated.

[0094] Even modifications to such transfer function filter C ^, if the divergence is detected, since the component corresponding to the diverging frequency f _D from the transfer function filter C ^ is removed, divergence of control cause an a transfer function filter C ^ phase shift in the divergent frequency f _D of become to have been substantially eliminated in is the divergence of the control is suppressed.

In some cases, after the divergence of the control is sufficiently eliminated, the above-mentioned (3) is added to the transfer function filter C ＾.
The split transfer function filter C ＾ subtracted according to the equation
(F _D ) may be added. And if the divergence of the control occurs again after performing such addition,
The calculation of the above equation (3) may be performed again to subtract the divided transfer function filter C ＾ (f _D ), and thereafter, the addition may not be performed.

Other functions and effects are the same as those of the first embodiment. Here, in the present embodiment, the processing of step 301 in FIG. 7 corresponds to the divergence suppressing unit.

In the above embodiment, the component corresponding to the divergence frequency f _D of the transfer function filter C ＾ is corrected by performing the operation of the above expression (2) or (3). It is not limited to this, for example,
If there is room in the storage area of the controller 25,
Transfer function filters C ＾ (f ₁ ) to C ＾ (f _N ) obtained by dividing the transfer function filter C ＾ for each frequency component are all stored in a number sufficient to reproduce the transfer function filters C ＾. In step 205, the divergence frequency f
_After converting the phase of only the divided transfer function filter C ＾ (f _D ) corresponding to _D , all divided transfer function filters C ＾
(F ₁ ) to C ＾ (f _N ) may be added to generate a new transfer function filter C ＾. In the process of step 301, the divided transfer function filter CＣ corresponding to the divergence frequency f _D All the divided transfer function filters C ＾ (f ₁ ) to C ＾ (f _N ) except for ＾ (f _D ) may be added to generate a new transfer function filter C ＾. Even with the configuration, the same operation and effect as the above embodiment can be obtained.

In the first embodiment, in the process of step 205, the divided transfer function filter C ＾
The phase conversion in the direction in which the phase conversion of (f _D ) is performed is determined as appropriate by experiments or the like in accordance with the characteristics of the vibration transmission system. In some cases, the phase conversion of the split transfer function filter C ＾ (f _D ) may be advanced or delayed while searching for a direction in which the divergence of the control is eliminated.

In the above embodiment, the residual vibration is detected by the load sensor 22 built in the active engine mount 1. However, the present invention is not limited to this. An acceleration sensor for detecting vibration may be provided, and an output signal of the acceleration sensor may be used as a residual vibration signal e.

In the above embodiment, the divergence detecting section 25D in the controller 25 detects the divergence by processing the residual vibration signal e in each band-pass / filter processing section. However, the present invention is not limited to this. Instead, the drive signal y may be processed by the band-pass filter processing unit in place of the residual vibration signal e to detect the divergence. Also, the divergence is detected based on only the level of the residual vibration signal e and the drive signal y without performing the bandpass filtering, and the bandpass filtering is performed only when the divergence is detected. A rough band of the frequency may be detected, and in such a case, the calculation load at all times can be further reduced.

Further, in the above embodiment, the active noise and vibration control device according to the present invention
5 is applied to an active vibration control device for a vehicle that reduces the vibration transmitted to the vehicle 5, the application of the present invention is not limited to this. An active noise control device that reduces periodic noise transmitted into a room may be used. In the case of such an active noise control device, a loudspeaker as a control sound source for generating a control sound in the vehicle cabin;
A microphone is provided as residual noise detecting means for detecting residual noise in the passenger compartment, and a loudspeaker is driven in accordance with a drive signal y obtained by the same arithmetic processing as in the above embodiment, and the output of the microphone is reduced to residual noise. The signal e may be used for updating the filter coefficients W _i of the adaptive digital filter W. If the same masking state detection processing and transfer function filter identification processing as in the above embodiment are executed, the same operation and effect as in the above embodiment can be obtained.

Further, the application of the present invention is not limited to vehicles, but an active vibration control device and an active noise control device for reducing periodic vibration and periodic noise generated outside the engine 30. The present invention can be applied to a device, and the same operation and effect as those of the above-described embodiment can be obtained regardless of the application target. For example, the present invention is applicable to a device for reducing periodic vibration and noise transmitted from a machine tool to a floor or a room.

In the above embodiment, the case where the synchronous Filtered-X LMS algorithm is applied as the adaptive algorithm has been described, but the applicable adaptive algorithm is not limited to this.
For example, a normal Filtered-X LMS algorithm or the like may be used.

[Brief description of the drawings]

FIG. 1 is a schematic side view of a vehicle showing a first embodiment.

FIG. 2 is a sectional view showing an example of an active engine mount.

FIG. 3 is a block diagram illustrating a functional configuration of a controller.

FIG. 4 is a waveform diagram showing a relationship between a transfer function filter and a divided transfer function filter.

FIG. 5 is a flowchart illustrating an outline of a vibration reduction process.

FIG. 6 is a flowchart illustrating an outline of a divergence detection process and a transfer function filter correction process according to the first embodiment.

FIG. 7 is a flowchart illustrating an outline of a divergence detection process and a transfer function filter correction process according to the second embodiment.

[Explanation of symbols]

 1 Active Engine Mount (Control Vibration Source) 22 Load Sensor (Residual Vibration Detection Means) 25 Controller 25A Drive Signal Generation Unit 25B Update Reference Signal Generation Unit 25C Filter Coefficient Update Unit 25D Divergence Detection Unit (divergence detection unit) 25E Divergence Frequency Detection unit (divergence frequency detection unit) 25F Transfer function filter correction unit (divergence suppression unit) 26 Pulse signal generator (reference signal generation unit) 30 Engine 35 Vehicle body

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yosuke Akatsu Nissan Motor Co., Ltd. 2 Takaracho, Kanagawa-ku, Yokohama-shi, Kanagawa

Claims (7)

[Claims] 1. A control sound source or a control vibration source capable of generating a control sound or a control vibration that interferes with noise or vibration, and detecting a residual noise or a residual vibration after the interference and outputting the detected residual noise or a residual vibration signal. A residual noise detecting means or a residual vibration detecting means, a reference signal generating means for detecting a state of occurrence of the noise or the vibration and outputting it as a reference signal, and an adaptive algorithm based on the residual noise signal or the residual vibration signal and the reference signal. Control means for generating and outputting a drive signal for driving the control sound source or control vibration source, wherein the adaptive algorithm is provided between the control sound source or control vibration source and the residual noise detection means or residual vibration detection means. Control divergence in an active noise and vibration control system that uses a transfer function filter that models the transfer function of Divergence detection means for detecting, divergence frequency detection means for detecting the frequency at which the divergence occurs as a divergence frequency, and adjusts the divergence frequency component among the frequency components of the transfer function filter when the divergence occurs An active noise and vibration control device, comprising: a divergence suppressing unit that suppresses divergence. 2. A divergence transfer function filter obtained by dividing the transfer function filter at least with respect to a frequency component at which the divergence may occur, wherein the divergence suppressing unit corresponds to the divergence frequency from the present transfer function filter. Subtracting the divided transfer function filter, and adding the result to the divided transfer function filter corresponding to the divergence frequency after converting the phase thereof to generate a new transfer function filter. 2. The active noise and vibration control device according to 1. 3. A split transfer function filter obtained by splitting the transfer function filter for each frequency component, wherein the divergence suppressing unit converts a phase of only the split transfer function filter corresponding to the divergence frequency. 2. The active noise and vibration control device according to claim 1, wherein a new transfer function filter is generated by adding the divided transfer function filters. 4. A transfer function filter obtained by dividing the transfer function filter at least for a frequency component in which the divergence may occur, wherein the divergence suppressing unit corresponds to the divergence frequency from the present transfer function filter. 2. The active noise and vibration control apparatus according to claim 1, wherein a new transfer function filter is generated by subtracting the divided transfer function filter. 5. A split transfer function filter, wherein the split transfer function filter is obtained by splitting the transfer function filter for each frequency component, and wherein the divergence suppressing means includes the split transfer function filters excluding the split transfer function filter corresponding to the divergent frequency. 2. The active noise and vibration control apparatus according to claim 1, wherein a new transfer function filter is generated by adding the following. 6. The divergence detection means converts the residual noise signal or residual vibration signal or the drive signal to a band-pass signal.
A band-pass filter for filtering, and divergence determining means for determining whether divergence has occurred based on the processing result of the band-pass filter. When the determination means determines that divergence has occurred, the divergence frequency is detected based on a pass frequency band of the band-pass filter and a fundamental frequency of the reference signal, which is a basis for determination. An active noise and vibration control device according to any one of claims 1 to 5. 7. The divergence frequency detection means, among the frequencies included in the pass frequency band of the band-pass filter used as the basis of the determination, a frequency that is an integral multiple of the fundamental frequency of the reference signal, 7. The active noise and vibration control device according to claim 6, wherein the detection is performed as: