JP5164537B2 - Engine damping system - Google Patents

Description

  The present invention relates to an engine damping system that suppresses propagation of vibrations in a predetermined direction of an engine mounted on a vehicle to a vehicle body, and in particular, to improve vehicle handling stability without sacrificing riding comfort. It relates to those that can control the engine.

  In the Japanese Patent Application No. 2007-117150, the applicant fixed an acceleration sensor to the engine in order to suppress propagation of vibrations in a predetermined direction of the engine mounted on the vehicle to the vehicle body, and applied a plurality of active vibrations for damping the engine. An engine damping system that supports the engine with a control mount (hereinafter referred to as “ACM”) and controls the damping force of the ACM based on an acceleration signal from the acceleration sensor is proposed. A damping effect can be effectively obtained in a predetermined frequency band including the natural frequency of the engine.

  In the above prior art, each ACM is controlled based only on acceleration information from an acceleration sensor installed at one point on the engine, and this acceleration sensor is centered on the roll rotation direction component, that is, the drive shaft axis. Although it is set to detect the acceleration of the tangential direction component of the circumference of the circumference, in reality, the acceleration sensor installed in this way is when the drive shaft axis itself translates to the acceleration of the roll rotation direction component Therefore, when the control is performed based on the signal from the acceleration sensor, it is well detected because only the roll rotation component is not detected. The feedback control is not possible and the engine cannot be damped enough to improve vehicle handling stability. It was.

  The present invention has been made in view of such problems, and an object of the present invention is to provide an engine damping system capable of reliably damping the engine so as to improve the steering stability of the vehicle.

The present invention relates to an engine damping system that suppresses propagation of vibrations in the roll rotation direction of an engine mounted on a vehicle to a vehicle body, and is one or more fixed on the engine and detects acceleration in the roll rotation direction. Based on a pair of acceleration sensors, a plurality of active control mounts (hereinafter referred to as “ACMs”) that support and suppress the engine, and the vibration control force of the ACM in real time based on acceleration signals from the acceleration sensor Each of the pair of acceleration sensors is arranged symmetrically with respect to the axis of the engine drive shaft, and the control unit includes a preset fixed feedback filter matrix, and It varies with the traveling of the vehicle, the 10~20Hz from the acceleration sensor forming the pair Kicking on the basis of the difference between the acceleration signal, the signals for controlling the respective damping forces of the plurality of ACM comprises a high-speed arithmetic unit for calculating the real-time configured, the feedback filter matrix, the difference between the acceleration signal Is an engine vibration control system set to output a control signal to the ACM.

Further, the present invention provides an engine damping system that suppresses propagation of vibration in the roll rotation direction of an engine mounted on a vehicle to a vehicle body, and is a pair of sensors that are fixed on the engine and detect acceleration in the roll rotation direction. Alternatively, a plurality of pairs of acceleration sensors, a plurality of active control mounts (hereinafter referred to as “ACMs”) that support and suppress the engine, and a damping force of the ACM based on an acceleration signal from the acceleration sensor Each of the paired acceleration sensors is arranged symmetrically with respect to the axis of the engine drive shaft, and the control unit has a fixed feedback filter matrix set in advance. And an acceleration signal from the paired acceleration sensor that fluctuates as the vehicle travels And a high-speed computing device that calculates in real time a signal for controlling the damping force of each of the plurality of ACMs based on the difference, and the feedback filter matrix receives the difference between the acceleration signals. An engine damping system configured to output respective control signals to the plurality of ACMs.

According to the present invention, it is possible to effectively prevent the vibration of the natural mode of the engine from propagating to the vehicle body.

Further, according to the present invention, the difference in acceleration detected by the pair of acceleration sensors arranged symmetrically with respect to the axis of the drive shaft indicates that the translation component of the roll rotation direction component and the translation component detected by the acceleration sensor are mutually different. The roll rotation direction component is canceled and the roll rotation direction component is doubled. Therefore, only the roll rotation direction component can be extracted, and the control of the roll rotation component based on this difference can be made highly accurate.

  FIG. 1 is a schematic diagram illustrating a planar arrangement of an engine according to an embodiment of the present invention. FIG. 2 is a schematic diagram illustrating a side surface of the engine corresponding to the arrow AA in FIG. The vehicle body 2 is supported by two ACMs 3a and 3b and two engine mounts 5 (without active control), and a plurality (two in the illustrated case) of ACMs 3a and 3b support the engine, It functions to actively apply a damping force to the engine 1 and suppress the vibration from being transmitted to the vehicle body.

  Further, the engine 1 is provided with one or more (one pair in the figure) acceleration sensors 4a, 4b fixed on the surface (the upper surface of the engine in the figure). It functions to detect the acceleration at a point in real time. The paired acceleration sensors 4a and 4b are arranged symmetrically around the drive shaft axis ST so as to detect the tangential direction component of the circumference around the drive shaft axis ST, that is, the acceleration of the roll rotation direction component of the engine 1. Is set.

  FIG. 3 is a block diagram showing the configuration of the engine damping system of this embodiment. The engine damping system 10 supports the engine 1 with respect to the vehicle body 2 and a plurality of ACMs 3a for damping the same. 3b, a pair of acceleration sensors 4a and 4b arranged symmetrically with respect to the drive shaft axis ST on the surface of the engine 1, and the damping force of the ACMs 3a and 3b based on the acceleration signals from the acceleration sensors 4a and 4b. And a control unit 11 for controlling.

The control unit 11 includes an acceleration difference calculation unit 12 that calculates a difference α between the acceleration signals α ₁ and α ₂ from the acceleration sensors 4a and 4b, a preset fixed feedback filter matrix, and acceleration signals α ₁ and α. _And a high-speed arithmetic device 9 for calculating signals β ₁ and β ₂ for controlling the damping force of each of the plurality of ACMs 3a and 3b in real time based on the difference α of ₂ .

Here, of the acceleration signal components detected by the acceleration sensors 4a and 4b, assuming that the roll rotation component is r and the translation component is t, the acceleration signals α ₁ and α ₂ detected by the acceleration sensors 4a and 4b are shown in FIG. As shown in the schematic diagram in FIG. 4, the difference α between the acceleration signals α ₁ and α ₂ can be expressed by the roll rotation component as shown in the equation (3). This is twice the value of r, and this eliminates the translational component and allows only the roll rotation component to be extracted.

α ₁ = r + t (1)
α ₂ = r−t (2)
α = α1−α2 = 2r (3)

Since the present invention feeds back the difference α between the acceleration signals α ₁ and α ₂ after removing the translation component t in this way to control the damping force of the ACMs 3a and 3b, the roll rotation component of the roll rotation component is accurately detected. Vibration can be suppressed.

The control unit 11 is also provided with an amplifier 7 for amplifying signals from the acceleration sensors 4a and 4b in order to obtain acceleration signals α ₁ and α _2, and outputs an output signal from the high-speed arithmetic device 9 to β ₁ , An amplifier 6 is provided that amplifies β ₂ and inputs it to the ACMs 3a and 3b.

  In the present invention, the main purpose is to dampen the roll resonance mode of the engine. In this case, the filter 8 passes only a frequency of 10 to 15 Hz including a resonance frequency of a general engine. Is preferred.

The output signals β ₁ and β ₂ can be obtained by the equation (1) using the feedback filter matrix based on the difference α between the acceleration signals α ₁ and α ₂ .

Here, A (s), B ₁ (s), and B ₂ (s) are Laplace transforms of α, β ₁ , and β ₂ , respectively.

Further, K ₁ and K ₂ constituting the feedback filter matrix can be designed as follows, for example. That is, this design is regarded as a mixed sensitivity problem in the H∞ control using the input end disturbance, and in the system shown in FIG. 5, the transfer function W _s from the disturbances w ₁ and w ₂ to the controlled variables z ₁ and z _{2 is obtained.} The H∞ norm of M and the H∞ norm of the transfer function W _t T from the disturbances w ₁ and w ₂ to the controlled variables z ₃ and z ₄ are obtained, and M in these transfer functions W _s M and W _t T, Since T is a function of the controller K, the controller K can be obtained by designing the entire system so as to reduce the H∞ norm of these transfer functions W _s M and W _t T.

Here, in FIG. 5, P is a measured and modeled transfer function of an actual system from the ACM to the acceleration sensor, K is a controller to be designed, and K ₁ and K ₂ in the equation (1). W ₁ and w ₂ are disturbance inputs, w ₃ is observation noise, W _s , W _t , and W _n are weight functions, and W _s and W _t are trial and error. The controller K is designed so as to reduce the transfer function while correcting. However, when actually controlling the system, this is converted into a state equation and controlled in real time in the time domain.

  In the engine arrangement shown in FIGS. 1 and 2, a vehicle equipped with this engine is stopped by applying full braking under the operation of ABS from a state where the road surface of dry asphalt is driven at a speed of 100 km / h. The time change of the acceleration at the point where the acceleration sensors 4a and 4b are fixed is graphed, and the result is shown in FIG. A thick line represents acceleration data of the acceleration sensor 4a, and a thin line represents acceleration data of the acceleration sensor 4b. FIG. 7 shows the difference in acceleration detected by these acceleration sensors 4a and 4b, that is, the difference between the thick line and the thin line in FIG.

  In FIGS. 6 and 7, braking starts in the vicinity of 1.5 s, and the vehicle is completely stopped in the vicinity of 5 s. As apparent from the data between 1.5 s and 5 s in FIG. It can be seen that the acceleration component of each acceleration sensor alone can accurately capture vibration components in the roll resonance direction, which could not be sufficiently captured, by taking the difference between them. It can also be seen that the translational component is removed.

  The vehicle used for the test was a minivan with a weight of about 2 tons equipped with a 2500cc diesel engine. The data shown in FIGS. 6 and 7 is obtained by filtering the original signal with a 30 Hz low-pass filter in order to make the graph easy to see.

It is a mimetic diagram showing plane arrangement of an engine concerning an embodiment of the present invention. It is a schematic diagram which shows the side surface of the engine corresponding to the AA arrow of FIG. It is a block diagram which shows the structure of the engine damping system of embodiment of this invention. It is a schematic diagram which shows the structure of the component of the acceleration which an acceleration sensor acquires. It is a block diagram which shows the system used when designing a feedback matrix. It is a graph which shows the time change of the acceleration detected with the acceleration sensor. It is a graph which shows the time change of the mutual difference of the acceleration detected with the acceleration sensor which makes a pair.

Explanation of symbols

1 Engine 2 Car body 3a, 3b ACM
4a, 4b Acceleration sensor 5 Engine mount 6, 7 Amplifier 9 High-speed computing device 10 Engine vibration control system 11 Control unit 12 Acceleration difference calculation unit ST Drive shaft axis

Claims (2)

In an engine damping system that suppresses propagation of vibration in the roll rotation direction of an engine mounted on a vehicle to the vehicle body,
One or more pairs of acceleration sensors fixed on the engine and detecting acceleration in the roll rotation direction, and a plurality of active control mounts (hereinafter referred to as “ACM”) that support the engine and vibrate it; A controller for controlling the damping force of the ACM in real time based on an acceleration signal from the acceleration sensor;
Each of the paired acceleration sensors is arranged symmetrically with respect to the axis of the drive shaft of the engine, and the control unit varies with a fixed feedback filter matrix set in advance and traveling of the vehicle. Based on a difference in acceleration signals at 10 to 20 Hz from the paired acceleration sensors, a high-speed arithmetic device that calculates in real time a signal for controlling the damping force of each of the plurality of ACMs is configured.
The engine damping system according to claim 1, wherein the feedback filter matrix is set to input a difference between the acceleration signals and output a control signal to the ACM. In an engine damping system that suppresses propagation of vibration in the roll rotation direction of an engine mounted on a vehicle to the vehicle body,
One or more pairs of acceleration sensors fixed on the engine and detecting acceleration in the roll rotation direction, and a plurality of active control mounts (hereinafter referred to as “ACM”) that support the engine and vibrate it; A controller for controlling the damping force of the ACM in real time based on an acceleration signal from the acceleration sensor;
Each of the paired acceleration sensors is arranged symmetrically with respect to the axis of the drive shaft of the engine, and the control unit varies with a fixed feedback filter matrix set in advance and traveling of the vehicle. Based on the difference between the acceleration signals from the paired acceleration sensors, a high-speed arithmetic device that calculates in real time a signal for controlling the vibration damping force of each of the plurality of ACMs is configured.
The engine damping system according to claim 1, wherein the feedback filter matrix is set to input a difference between the acceleration signals and output a control signal to each of the plurality of ACMs.

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