JP6808607B2 - Active anti-vibration device - Google Patents

Description

The present invention relates to an active vibration isolator that suppresses the transmission of vibration from a drive source to a vehicle body.

Patent Document 1 proposes a device that calculates the temperature T (or the temperature of the voice coil 31) of the mount body 30 based on the control current value flowing through the voice coil 31 of the engine mount (summary, [0014]). ). At this time, when the temperature of the mount body 30 rises and the temperature of the voice coil 31 rises, the resistance value of the voice coil 31 rises, so there is a description that the decrease in the control current value is utilized ([0014]. ]).

Japanese Unexamined Patent Publication No. 08-177965

However, when the change in the resistance value according to the temperature change of the voice coil 31 is used as in Patent Document 1, the temperature estimation accuracy may decrease due to the variation in the relationship between the resistance value and the temperature.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide an active vibration isolator capable of estimating the internal temperature of an actuator with high accuracy.

The active vibration isolator according to the present invention includes an actuator arranged between a drive source and a vehicle body, and a computer that suppresses vibration transmission from the drive source to the vehicle body by causing the actuator to generate active vibration. An active anti-vibration device including, the computer has a command value calculation unit that calculates an operation command value of the actuator from vibration information of the drive source, and the operation command according to the internal temperature of the actuator. A command value correction unit that corrects a value, a target current waveform calculation unit that calculates a target current waveform based on the operation command value corrected by the command value correction unit, and a voltage duty ratio calculated based on the target current waveform. An actuator drive control unit that applies a drive voltage to the actuator using the above, an internal temperature estimation unit that estimates the internal temperature based on an average duty ratio as an average of the voltage duty ratios in a predetermined section, and the command value. A correction execution determination unit that determines whether or not the correction of the operation command value needs to be executed by the correction unit is provided , and one waveform calculation cycle of the target current waveform is a current that is a section from the bottom value to the peak value of the current. It is divided into an ascending section and a current descending section which is a section from the peak value to the bottom value of the current, and the predetermined section corresponds to all or a part of the current descending section .

The characteristic curve showing the relationship of the average duty ratio with respect to the internal temperature of the actuator partially shows high correlation and high reproducibility. The internal temperature of the actuator can be estimated with high accuracy by correcting the operation command value based on the average duty ratio in a predetermined section in consideration of the tendency of this characteristic curve. Moreover, by determining whether or not the correction of the operation command value needs to be executed, the correction can be executed or stopped in a timely manner according to various situations.

Further, the correction execution determination unit may determine whether or not the correction of the operation command value needs to be executed according to the information indicating the outside air temperature or the internal temperature of the actuator. As a result, the tendency that the linearity of the characteristic curve differs depending on the range of the outside air temperature or the inside temperature of the actuator can be reflected in the correction.

Further, the correction execution determination unit may determine that the operation command value is not corrected when the outside air temperature or the internal temperature is lower than the threshold value. By stopping the correction in the low temperature range where the linearity of the characteristic curve (that is, the estimation accuracy of the internal temperature) decreases, it is possible to prevent the performance deterioration of the vibration isolator due to, for example, overcorrection.

Further, the correction execution determination unit may determine whether or not the correction of the operation command value needs to be executed according to the information indicating the driving state of the actuator or the vibration state of the driving source. As a result, the tendency that the sensitivity to the internal temperature differs depending on the driving state of the actuator or the vibration state of the driving source can be reflected in the correction.

Further, the correction execution determination unit may determine that the operation command value is not corrected when the drive current of the actuator or the vibration cycle of the drive source is smaller than the threshold value. By stopping the correction in the range (small current or short cycle) where the sensitivity to the internal temperature (that is, the estimation accuracy of the internal temperature) decreases, it is possible to prevent the performance deterioration of the vibration isolator due to overcorrection, for example. it can.

Further, the correction execution determination unit may determine whether or not the correction of the operation command value needs to be executed according to the time change of the information indicating the driving state of the actuator or the vibration state of the driving source. As a result, the drive stability of the actuator can be evaluated from the time change of the drive state of the actuator or the vibration state of the drive source, and this determination result can be reflected in the execution of the correction.

Further, the correction execution determination unit may determine that the operation command value is not corrected when the change amount of the drive current of the actuator or the vibration cycle of the drive source is larger than the threshold value. By stopping the correction in a state where the drive stability of the actuator is evaluated to be low, it is possible to prevent deterioration of the performance of the vibration isolator due to, for example, overcorrection.

Further, the command value calculation unit includes a first calculation mode for calculating the operation command value including a primary component corresponding to the vibration cycle of the drive source, and primary and multiple order components corresponding to the vibration cycle. It is possible to switch between the second calculation mode for calculating the operation command value and execute it, and the correction execution determination unit determines that the operation command value calculated by the second calculation mode is not corrected. May be good. By stopping the correction of the operation command value including the multi-order component that can reduce the correlation of the characteristic curve, it is possible to prevent the performance deterioration of the vibration isolator due to, for example, overcorrection.

According to the active vibration isolator according to the present invention, the internal temperature of the actuator can be estimated with high accuracy.

It is a schematic block diagram of the vehicle equipped with the active type vibration isolation device in one Embodiment of this invention. It is a figure which shows the internal structure of the engine mount of FIG. It is a block diagram which shows the function of the calculation part of the ACM-ECU of FIG. 1 and FIG. It is a detailed block diagram which shows the function of the engine state variable calculation part of FIG. It is a block diagram which shows the function of the command value calculation part of FIG. It is a figure which shows the point number map used by the vibration cycle point number calculation part of FIG. It is a detailed block diagram which shows the function of the command value correction part of FIG. It is a detailed block diagram which shows the function of the target current waveform calculation part of FIG. It is a figure which shows the target current waveform map used by the primary target current waveform calculation part of FIG. 10A to 10C are diagrams showing the first, second, and third states in which the secondary target current waveform is calculated by the secondary target current waveform calculation unit of FIG. FIG. 11A is a diagram showing a primary target current waveform calculated by the primary target current waveform calculation unit. FIG. 11B is a diagram showing a secondary target current waveform calculated by the secondary target current waveform calculation unit. FIG. 11C is a diagram showing a target current waveform calculated by the waveform synthesizer by synthesizing the primary target current waveform and the secondary target current waveform. It is a detailed block diagram which shows the function of the actuator drive control part of FIG. It is a figure which shows an example of the drive voltage output by the actuator drive control unit. It is a circuit diagram which shows a part of the drive circuit of FIG. It is a figure which shows the example of the target current waveform and the drive current waveform of the actuator of FIGS. 1 to 3. It is a figure which shows an example of the relationship between the target current waveform and the drive current at low temperature and high temperature. It is a figure for demonstrating the principle of temperature estimation in this embodiment. FIG. 18A shows an example of a target current arrangement. FIG. 18B is a diagram showing a voltage duty ratio when the target current array of FIG. 18A is used. FIG. 18C is an enlarged view of a part of FIG. 18B. It is a detailed block diagram which shows the function of the internal temperature estimation part of FIG. It is a figure which shows the reference average duty ratio map used by the reference average duty ratio calculation part of FIG. It is a figure which shows an example of the relationship between the number of points and the average duty ratio. It is a figure which shows the average duty ratio change rate map used by the average duty ratio change rate calculation part of FIG. It is a figure which shows an example of the correction OFF condition for determining the non-execution of a correction. It is a figure which shows an example of the relationship between the internal temperature and the average duty ratio of a descent. It is a figure which shows the specific judgment result by the correction execution judgment part of FIG.

Hereinafter, a suitable embodiment of the active vibration isolator in the present invention will be described with reference to the accompanying drawings.

[Rough configuration of vehicle 10]
FIG. 1 is a schematic configuration diagram of a vehicle 10 equipped with an active vibration isolator 200 according to an embodiment of the present invention. The vehicle 10 shown in this figure is an engine vehicle having an engine 12 as a drive source (motor). The vehicle 10 may be a hybrid vehicle having a traveling motor in addition to the engine 12.

The engine 12 is supported by the vehicle body 14 via engine mounts 202f and 202r in a state where the rotation axis is in the vehicle width direction. The engine mounts 202f and 202r form a part of an active vibration isolator 200 that actively suppresses vibration from the engine 12 (hereinafter, engine vibration) by driving the actuator 210.

The vehicle 10 has an engine control system 100 related to control of the engine 12 and a battery 16 in addition to the active vibration isolator 200. The basic components of the vehicle 10 are, for example, the same as those of Patent Document 1 (Japanese Patent Laid-Open No. 08-177965), Japanese Patent Application Laid-Open No. 2011-252553, or Japanese Patent Application Laid-Open No. 2014-137003. Can be used.

The engine control system 100 includes a crank sensor 102, a top dead center sensor (hereinafter, TDC sensor 104), a starter motor 106, an outside temperature sensor 108, and a fuel injection electronic control device (hereinafter, TDC sensor 104) as components related to the engine 12. Hereinafter, it is configured to include FI-ECU 110).

The crank sensor 102 detects the rotation position of the crankshaft (hereinafter, crank rotation position θcrk) (hereinafter, not shown), and outputs a signal indicating the crank rotation position θcrk (hereinafter, CRK pulse signal Scrk) to the FI-ECU 110. The TDC sensor 104 detects the timing when the engine piston (hereinafter, top dead center timing), which is not shown, reaches the top dead center, and outputs a signal indicating the top dead center timing (hereinafter, TDC pulse signal Stdc) to the FI-ECU 110. To do.

The starter motor 106 is used for motoring the engine 12 and transmits a driving force to the engine 12 based on the electric power from the battery 16. The outside air temperature sensor 108 detects the outside air temperature Tex (unit: ° C.) and outputs it to the FI-ECU 110 and the ACM-ECU 206 described later, respectively.

The FI-ECU 110 controls the engine 12 based on various input signals such as the CRK pulse signal Scrk and the TDC pulse signal Stdc. For example, the FI-ECU 110 calculates and uses the number of revolutions of the engine 12 per unit time (hereinafter, engine rotation speed Ne; the unit is rpm) based on the CRK pulse signal Scrk. Similar to the ACM electronic control device (hereinafter, ACM-ECU206) of the active vibration isolation device 200 described later, the FI-ECU 110 has an input / output unit, a calculation unit, and a storage unit (not shown).

The FI-ECU 110 is configured to be able to control the cylinder deactivation mode (cylinder operation mode) of the engine 12. In this case, the FI-ECU 110 transmits a CRK pulse signal Scrk, a TDC pulse signal Stdc, and a cylinder signal Scy indicating a cylinder operating state (all cylinder operating mode or cylinder deactivation mode) to the ACM-ECU 206.

[Configuration of Active Anti-Vibration Device 200]
The active vibration isolator 200 is a device for suppressing vibration transmission from the engine 12 to the vehicle body 14. The active vibration isolator 200 has current sensors 204f and 204r in addition to the engine mounts 202f and 202r and ACM-ECU206 described above.

The current sensors 204f and 204r detect the current supplied from the battery 16 to the engine mounts 202f and 202r via the ACM-ECU 206 (hereinafter, drive currents Idf, Idr, or generically, drive current Id), and ACM- Output to ECU 206.

FIG. 2 is a diagram showing the internal configuration of the engine mounts 202f and 202r of FIG. The engine mounts 202f and 202r function as so-called ACM (Active Control Mount) that actively suppresses engine vibration. Specifically, the engine mounts 202f and 202r each have an actuator 210, a vibration plate 212, and a rubber plate 214, respectively.

The actuator 210 has a drive shaft 216 and a coil 218 to generate offset vibrations that offset engine vibrations. The drive shaft 216 moves forward and backward according to the electromagnetic force accompanying the energization of the coil 218. The exciting plate 212 advances and retreats according to the advance and retreat of the drive shaft 216 to urge the liquid enclosed in the engine mounts 202f and 202r. The rubber plate 214 is integrally displaced according to the movement of the fixed vibration plate 212.

The ACM-ECU 206 is a device that drives and controls the actuator 210, and has an input / output unit 220, a calculation unit 222, and a storage unit 224 (FIG. 1). By driving the actuator 210, the ACM-ECU 206 performs vibration suppression control for suppressing transmission of engine vibration to the vehicle body 14.

The input / output unit 220 inputs / outputs a signal between the ACM-ECU 206 and each of the other units. The calculation unit 222 is a device that controls the engine mounts 202f and 202r by executing a program stored in the storage unit 224, and includes, for example, a central processing unit (CPU). The details of the calculation unit 222 will be described later with reference to FIG.

The storage unit 224 stores programs and data used by the calculation unit 222. The storage unit 224 includes a RAM (Random Access Memory) composed of a volatile memory or a non-volatile memory. Further, the storage unit 224 may have a ROM (Read Only Memory) in addition to the RAM.

In this embodiment, it is assumed that the program and data used by the calculation unit 222 are stored in the storage unit 224 of the vehicle 10. However, for example, a part of the program and data may be acquired from an external server (all not shown) via the wireless device included in the input / output unit 220.

[Function of calculation unit 222]
<Overview>
FIG. 3 is a block diagram showing the functions of the calculation unit 222 of the ACM-ECU 206 of FIGS. 1 and 2. Each unit of the calculation unit 222 shown in FIG. 3 is a functional unit realized by executing a program stored in the storage unit 224.

The calculation unit 222 includes an engine state variable calculation unit 250, a command value calculation unit 252, a command value correction unit 254, a target current waveform calculation unit 256, an actuator drive control unit 258, and an internal temperature estimation unit 260. It has an internal temperature adjusting unit 262 and a correction execution determination unit 264.

The engine state variable calculation unit 250 calculates, as engine state variables, the amplitude at which the engine 12 vibrates (hereinafter, vibration amplitude Av) and the period during which the engine 12 rotates / vibrates (hereinafter, vibration cycle Pv). The engine state variable calculation unit 250 may calculate the frequency instead of the vibration period Pv.

The command value calculation unit 252 calculates the operation command value C of the actuator 210 based on the vibration amplitude Av and the vibration cycle Pv from the engine state variable calculation unit 250. Here, the command value calculation unit 252 can calculate the operation command value C while switching between the two types of calculation modes described later in accordance with the correction mode flag Flgmod from the correction execution determination unit 264.

The command value correction unit 254 has an operation command value C based on an operation command value C from the command value calculation unit 252, an outside air temperature Tex from the outside air temperature sensor 108, and a calculation temperature Tcal from the internal temperature adjustment unit 262. To correct. Here, the command value correction unit 254 can switch the correction execution state (ON / OFF) according to the correction mode flag Flgmod from the correction execution determination unit 264.

The target current waveform calculation unit 256 calculates the target current waveform Wi based on the operation command value C corrected by the command value correction unit 254. The actuator drive control unit 258 drives the actuator 210 by applying a drive voltage Vd based on the target current waveform Wi.

The internal temperature estimation unit 260 estimates the internal temperature Tamm of the actuator 210 based on the voltage duty ratio DUT from the actuator drive control unit 258. The internal temperature adjusting unit 262 calculates the same or different temperature as the internal temperature Tacm (hereinafter referred to as the calculation temperature Tcal) by adjusting the internal temperature Tacm estimated by the internal temperature estimating unit 260 as necessary.

The correction execution determination unit 264 determines whether or not the operation command value C needs to be corrected by the command value correction unit 254 based on the external information or the internal information of the ACM-ECU 206. The external information is various information input to the ACM-ECU 206, and includes, for example, an outside air temperature Texas and a drive current Id. The internal information is various information generated by the ACM-ECU 206, and includes, for example, an internal temperature Tacm, a vibration period Pv, a number of points Np, and a correction mode flag Flgmod.

<Details of engine state variable calculation unit 250>
FIG. 4 is a detailed block diagram showing the function of the engine state variable calculation unit 250 of FIG. The engine state variable calculation unit 250 includes an engine vibration amplitude calculation unit 270 and an engine vibration cycle calculation unit 272.

The engine vibration amplitude calculation unit 270 calculates the vibration amplitude Av based on the CRK pulse signal Scrk and the TDC pulse signal Stdc. Specifically, the engine vibration amplitude calculation unit 270 calculates the cumulative value ∫Dcrk of the interval Dcrk at a specific time point (for example, a rising time point or a falling time point) in one cycle of the CRK pulse signal Scrk. Next, the engine vibration amplitude calculation unit 270 calculates the average value Dcrkave (= (∫Dcrk) / Dtdc) by dividing the cumulative value ∫Dcrk by the top dead center timing interval Dtdc.

Then, the engine vibration amplitude calculation unit 270 calculates the deviation ΔDcrk between the interval Dcrk at each specific time point and the average value Dcrkave, and sets the difference between the maximum value and the minimum value of the deviation ΔDcrk as the vibration amplitude Av. Since the vibration amplitude Av has a high correlation with the actual engine vibration amplitude, it is used as a substitute for the engine vibration amplitude.

The input / output characteristics of the arithmetic processing are schematically shown in parentheses in the engine vibration amplitude calculation unit 270. Specifically, it is shown that the engine vibration amplitude calculation unit 270 calculates the vibration amplitude Av with the CRK pulse signal Scrk and the TDC pulse signal Stdc as the main input values. "G" means a function. The same applies to other components.

The engine vibration cycle calculation unit 272 calculates the vibration cycle Pv based on the CRK pulse signal Scrk and the cylinder signal Scy. Specifically, the engine vibration cycle calculation unit 272 calculates the interval at a specific time point in one cycle of the CRK pulse signal Scrk as the vibration cycle Pv. The cylinder signal Scy is used to determine the change in the vibration period Pv according to the operating state of the cylinder.

<Details of command value calculation unit 252>
FIG. 5 is a detailed block diagram showing the function of the command value calculation unit 252 of FIG. The command value calculation unit 252 includes a primary command current calculation unit 280, a primary phase calculation unit 282, a secondary command current calculation unit 284, a secondary phase calculation unit 286, and a vibration cycle point number calculation unit 288. It is configured to include a secondary current multiplier setting unit 290 and a multiplier 292.

The primary command current calculation unit 280 calculates the primary command current Ic1 (unit: A) for each combination of the vibration amplitude Av and the vibration cycle Pv. Here, the primary command current Ic1 is a primary component of the command value of the current supplied to the actuator 210. More specifically, the primary command current calculation unit 280 has a map (primary command current map) that defines the relationship between the combination of the vibration amplitude Av and the vibration period Pv and the primary command current Ic1. Then, the primary command current calculation unit 280 reads the primary command current Ic1 corresponding to the combination of the vibration amplitude Av and the vibration cycle Pv and outputs it to the command value correction unit 254 by referring to this primary command current map. To do.

The primary phase calculation unit 282 calculates the primary phase Pc1 (unit: rad) for each combination of the vibration amplitude Av and the vibration period Pv. Here, the primary phase Pc1 is the phase of the primary command current Ic1. More specifically, the primary phase calculation unit 282 has a map (primary phase map) that defines the relationship between the combination of the vibration amplitude Av and the vibration period Pv and the primary phase Pc1. Then, the primary phase calculation unit 282 reads out the primary phase Pc1 corresponding to the combination of the vibration amplitude Av and the vibration period Pv and outputs it to the command value correction unit 254 by referring to the primary phase map.

The secondary command current calculation unit 284 calculates the secondary command current Ic2 (unit: A) for each combination of the vibration amplitude Av and the vibration cycle Pv. Here, the secondary command current Ic2 is a secondary component of the command value of the current supplied to the actuator 210. More specifically, the secondary command current calculation unit 284 has a map (secondary command current map) that defines the relationship between the combination of the vibration amplitude Av and the vibration cycle Pv and the secondary command current Ic2. Then, the secondary command current calculation unit 284 reads out the secondary command current Ic2 corresponding to the combination of the vibration amplitude Av and the vibration cycle Pv and outputs it to the command value correction unit 254 by referring to this secondary command current map. To do.

The secondary phase calculation unit 286 calculates the secondary phase Pc2 (unit: rad) for each combination of the vibration amplitude Av and the vibration period Pv. Here, the secondary phase Pc2 is the phase of the secondary command current Ic2. More specifically, the secondary phase calculation unit 286 has a map (secondary phase map) that defines the relationship between the combination of the vibration amplitude Av and the vibration period Pv and the secondary phase Pc2. Then, the secondary phase calculation unit 286 reads out the secondary phase Pc2 corresponding to the combination of the vibration amplitude Av and the vibration period Pv and outputs it to the command value correction unit 254 by referring to the secondary phase map.

The vibration cycle point number calculation unit 288 calculates the number of points Np (unit: pieces) of the target current Itar according to the vibration cycle Pv. Here, the number of points Np is the number of plots of the target current Itar per waveform, and increases in proportion to the vibration period Pv. More specifically, the vibration cycle point number calculation unit 288 has a map (hereinafter, point number map 300) that defines the relationship between the vibration cycle Pv and the point number Np. Then, the vibration cycle point number calculation unit 288 reads out the point number Np corresponding to the vibration cycle Pv and outputs it to the command value correction unit 254 by referring to the point number map 300 shown in FIG.

The secondary current multiplier setting unit 290 sets the multiplier of the multiplier 292 provided on the output side of the secondary command current calculation unit 284 according to the correction mode flag Flgmod. For example, the secondary current multiplier setting unit 290 sets the multiplier to 0 in the "first calculation mode" for calculating the operation command value C composed of the primary component corresponding to the vibration period Pv. On the other hand, in the case of the "second calculation mode" in which the operation command value C composed of the primary and multiple order components (here, the secondary) corresponding to the vibration period Pv is calculated, the multiplier is set to a positive value (for example, 1). Set.

<Details of command value correction unit 254>
FIG. 7 is a detailed block diagram showing the function of the command value correction unit 254 of FIG. Here, the command value correction unit 254 corrects the primary command current Ic1 according to the internal temperature Tacm. This is because even if the target current waveform Wi, which will be described later, is the same, the generated force F by the actuator 210 differs according to the change in the internal temperature Tacm.

The command value correction unit 254 includes a flag determination unit 310, a reference generation force calculation unit 312, a generation force reduction rate calculation unit 314, a generation force reduction amount calculation unit 316, a correction value calculation unit 318, and a primary command current. It is configured to include a correction unit 320.

The flag determination unit 310 refers to the value of the correction mode flag Flmgmod and determines the execution state of the temperature correction. The flag determination unit 310 outputs the primary command current Ic1 to the reference generating force calculation unit 312 when the temperature correction is “ON”. On the other hand, when the temperature correction is "OFF", the flag determination unit 310 outputs the primary command current Ic1 to the target current waveform calculation unit 256 as it is.

The reference generated force calculation unit 312 calculates a reference value (hereinafter, reference generated force Ref) of the generated force F of the actuator 210 based on the primary command current Ic1.

The generation force reduction rate calculation unit 314 calculates the generation force reduction rate Rfdwn indicating the degree of reduction of the generation force F of the actuator 210 from the relationship between the calculation temperature Tcal from the internal temperature adjustment unit 262 and the reference temperature Tref.

The generated power reduction amount calculation unit 316 calculates the product of the reference generated power Fref from the reference generated power calculation unit 312 and the generated power reduction rate Rfdwn from the generated power reduction rate calculation unit 314 as the generated power reduction amount Fdwn. (Fdwn = Fref · Rfdwn).

The correction value calculation unit 318 calculates the correction value Icrt1 with respect to the primary command current Ic1 after converting the generated force reduction amount Fdwn from the generation force reduction amount calculation unit 316 into a current.

When the temperature correction is "ON", the primary command current correction unit 320 corrects the primary command current Ic1 by adding the correction value Icrt1 to the primary command current Ic1 (Ic1 (after correction) = Ic1 (before correction) + Icrt1).

<Details of target current waveform calculation unit 256>
FIG. 8 is a detailed block diagram showing the function of the target current waveform calculation unit 256 of FIG. The target current waveform calculation unit 256 includes a primary target current waveform calculation unit 330, a secondary target current waveform calculation unit 332, a waveform synthesis unit 334, and a zero point correction unit 336.

The primary target current waveform calculation unit 330 calculates the primary target current waveform Wi1 (unit: A) based on the vibration period Pv, the primary command current Ic1 and the primary phase Pc1. More specifically, the primary target current waveform calculation unit 330 reads out the target current array Mi corresponding to the combination of the vibration period Pv and the primary command current Ic1 by referring to the target current waveform map 350 of FIG. .. Then, the primary target current waveform calculation unit 330 calculates the primary target current waveform Wi1 by reflecting the primary phase Pc1 on the read target current array Mi.

FIG. 9 is a diagram showing a target current waveform map 350 used by the primary target current waveform calculation unit 330 of FIG. The target current waveform map 350 corresponds to an aggregate of target current arrays Mi provided for each combination of the vibration period Pv and the primary command current Ic1. Each target current array Mi is a data set showing a time series of the target current Itar, and constitutes a target current waveform Wi.

The secondary target current waveform calculation unit 332 calculates the secondary target current waveform Wi2 (unit: A) based on the vibration period Pv, the secondary command current Ic2, and the secondary phase Pc2. More specifically, the secondary target current waveform calculation unit 332 corresponds to the combination of the vibration period Pv and the secondary command current Ic2 by referring to the target current waveform map 350 which is the same as or different from the map of FIG. Read the target current array Mi. Note that when the same target current waveform map 350 is used, the target current array Mi corresponding to the combination of the period corresponding to half of the vibration period Pv and the secondary command current Ic2 is read out.

10A to 10C are diagrams showing the first, second, and third states in which the secondary target current waveform Wi2 is calculated by the secondary target current waveform calculation unit 332 of FIG.

FIG. 10A shows the secondary target current waveform Wi2 calculated based on the vibration period Pv and the secondary command current Ic2. It should be noted that in this secondary target current waveform Wi2, the read target current array Mi (half cycle of the vibration cycle Pv) is sequentially arranged for two times in one waveform calculation cycle Pwc.

FIG. 10B shows a state in which the secondary phase Pc2 is reflected with respect to the secondary target current waveform Wi2 of FIG. 10A. The secondary target current waveform Wi2 is adjusted so as to lag the waveform shown in FIG. 10A by the secondary phase Pc2. As a result, the portion (right side) indicated by the white circle in the target current Itar constituting the secondary target current waveform Wi2 in FIG. 10B protrudes from the current waveform calculation cycle Pwc.

FIG. 10C shows a state in which the target current Itar (white circle) protruding in FIG. 10B is translated to the start position of the same waveform calculation cycle Pwc. This guarantees the periodicity of the target current Itar.

The waveform synthesis unit 334 calculates the target current waveform Wi (combined target current waveform) by synthesizing the primary target current waveform Wi1 and the secondary target current waveform Wi2. Hereinafter, specific synthesis results will be described with reference to FIGS. 11A to 11C.

FIG. 11A shows the primary target current waveform Wi1 calculated by the primary target current waveform calculation unit 330. FIG. 11B shows the secondary target current waveform Wi2 calculated by the secondary target current waveform calculation unit 332. FIG. 11C shows a target current waveform Wi calculated by the waveform synthesis unit 334 by synthesizing the primary target current waveform Wi1 and the secondary target current waveform Wi2.

Regarding the target current waveform Wi in FIG. 11C, one waveform calculation cycle Pwc is a section from the bottom value of the current to the peak value (hereinafter, the current rising section Zup) and a section from the peak value of the current to the bottom value (hereinafter, the following. It is divided into a current downlink section Zdwn) and.

The zero point correction unit 336 corrects the zero point with respect to the target current waveform Wi calculated by the target current waveform calculation unit 256. As shown in FIG. 11C, the target current waveform Wi may be larger than zero in the entire section of the waveform calculation cycle Pwc. The zero point correction corresponds to a correction that lowers the entire target current waveform Wi so that the bottom value (minimum value) of the target current waveform Wi becomes zero. The target current waveform Wi with zero point correction is shown in FIG. 18A, which will be described later.

<Overview of actuator drive control unit 258>
FIG. 12 is a block diagram showing details of the actuator drive control unit 258 of FIG. The actuator drive control unit 258 includes a next target current value calculation unit 360, a voltage duty ratio calculation unit 362, and a drive circuit 364. In this figure, one set of the current sensor 204 and the actuator 210 is shown, but in reality, a plurality of sets are provided as shown in FIG.

The next target current value calculation unit 360 calculates the target current Itar sequentially selected from the target current waveform Wi (FIG. 11C) calculated by the target current waveform calculation unit 256 as the next target current Itarnxt.

The voltage duty ratio calculation unit 362 calculates the voltage duty ratio DUT based on the next target current value Itarnxt from the next target current value calculation unit 360 and the drive current Id from the current sensor 204. The voltage duty ratio DUT is the ratio of the application time Ta of the drive voltage Vd to the switching cycle Psw, and is defined by the following equation (1).
DUT = Ta / Psw (1)

FIG. 13 is a diagram showing an example of the drive voltage Vd output by the actuator drive control unit 258. The switching cycle Psw corresponds to an integral multiple of the waveform calculation cycle Pwc. Further, the drive voltage Vd is a fixed voltage that does not change with time.

The voltage duty ratio calculation unit 362 calculates the voltage duty ratio DUT by the following equation (2), for example, when PID control is used.
DUT (n) = P (n) + I (n) + D (n) (2)

In the above equation (2), P is a P term (proportional term), I is an I term (integral term), and D is a D term (differential term). P, I, and D are defined by the following equations (3) to (5), respectively.
P (n) = Kp {Itar (n + 1) -Id (n)} (3)
I (n) = Ki {Ittar (n) -Id (n)} (4)
D (n) = D (n-1) + Kd {Itar (n) -Id (n)} (5)

In the above equations (2) to (5), "n" indicates the value in the current switching cycle Psw, "n-1" indicates the value in the previous switching cycle Psw, and "n + 1" indicates the value in the next switching cycle Psw. Indicates the value in. Kp is the P-term gain, Ki is the I-term gain, and Kd is the D-term gain.

The drive circuit 364 applies a drive voltage Vd to the actuator 210 by using the voltage duty ratio DUT from the voltage duty ratio calculation unit 362. Here, since pulse width modulation (PWM) is used, the drive voltage Vd is a fixed voltage. The drive circuit 364 may be included in the actuator drive control unit 258 as shown in FIG. 12, or may be configured as a part of the engine mounts 202f and 202r.

FIG. 14 is a circuit diagram showing a part of the drive circuit 364 of FIG. The drive circuit 364 is configured to include three switching elements 380a, 380b, 380c and four diodes 382a, 382b, 382c, 382d.

Vin indicates the input voltage from the battery 16 (FIG. 1), and Vout indicates the output voltage to the battery 16 side. The input voltage Vin may not be the output voltage of the battery 16 (battery voltage Vbat) itself, but may be a voltage boosted by a booster circuit (not shown).

The switching element 380a and the diode 382a are arranged in parallel between the battery 16 and the coil 218. The switching element 380b and the diode 382b are arranged in parallel between the coil 218 and the ground. The switching element 380c and the diode 382d are arranged in parallel between the coil 218 and the ground. The diode 382c is arranged between the battery 16 and the coil 218.

The drive circuit 364 forms three energization paths (hereinafter, loops 1 to 3) as the switching elements 380a to 380c are turned on and off. The loop 1 shown by the broken line is a loop when the switching elements 380a and 380c are turned on and the switching element 380b is turned off. The loop 2 shown by the solid line is a loop when the switching elements 380b and 380c are turned on and the switching element 380a is turned off. The loop 3 indicated by the alternate long and short dash line is a loop when all of the switching elements 380a to 380c are turned off.

<Switching of each operation term Kp, Ki, Kd>
FIG. 15 is a diagram showing an example of waveforms of the target current waveform Wi and the drive current Id of the actuator 210 of FIGS. 1 to 3. The target current waveform Wi is set by dividing the operation cycle (that is, the waveform calculation cycle Pwc) in which the actuator 210 advances and retreats once into a plurality of points. The target current waveform Wi (or target current array Mi) is formed by a plurality of target currents Itar.

The delimiter of the target current Itar corresponds to the switching period Psw (unit: sec) of the switching elements 380a to 380c. The target current Itar is set so that the engine mounts 202f and 202r are out of phase with the same or different amplitudes.

As described above, the actuator drive control unit 258 controls the actuator 210 by using loops 1 to 3 by the drive circuit 364. When increasing the drive current Id in the current rise section Zup (FIG. 11C), loop 1 and loop 2 are alternately replaced. On the other hand, when the drive current Id is reduced in the current downlink section Zdwn (FIG. 11C), the loop 3 and the loop 2 are alternately replaced.

That is, the ACM-ECU 206 switches loops 1 to 3 as follows, and switches calculation terms Kp, Ki, and Kd according to the types of loops 1 to 3. As a result, the current rising section Zup and the current falling section Zdwn shown in FIG. 15 can be realized.
When Itar-Id ≥ 0 → Loop 1
When Itar-Id <0 and DUT> 0 → Loop 2
When Itar-Id <0 and DUT ≤ 0 → Loop 3

<Estimation method of internal temperature Tacm>
Subsequently, a method of estimating the internal temperature Tacm in the present embodiment will be described. Here, the internal temperature Tamm is estimated using the drive current Id at the time of falling.

(Estimated model of internal temperature Tacm)
FIG. 16 is a diagram showing an example of the relationship between the target current waveform Wi and the drive current Id at low temperature and high temperature. In this figure, the state when the target current waveform Wi and the drive current Id are decreasing (in other words, the current downlink section Zdwn) is shown.

The slope (that is, the time derivative value of the drive current Id or the current slope deviation ΔI (unit: A / sec)) is different between the drive current Id at low temperature and the drive current Id at high temperature. In particular, the slope when the drive current Id decreases due to the loop 2 is significantly different. Therefore, the internal temperature estimation unit 260 estimates the internal temperature Tamm by utilizing the change in the slope of the drive current Id in the loop 2 (here, the degree of change in the voltage duty ratio DUT).

FIG. 17 is a diagram for explaining the principle of temperature estimation in the present embodiment. The internal temperature estimation unit 260 estimates the internal temperature Tacm using the average duty ratio DUTave and the number of points Np. Here, the average duty ratio DUTave is the average of the voltage duty ratio DUT in a predetermined section.

Here, the predetermined section is set to all or a part of the current downlink section Zdwn. A part of the current downlink section Zdwn corresponds to, for example, a section from the first duty ratio threshold value THdut1 to the second duty ratio threshold value THdut2 (<THdut1) when the voltage duty ratio DUT falls.

When the internal temperature Tacm is equal to or higher than the reference temperature Tref, the average duty ratio DUTave of the current drop section Zdwn tends to change substantially linearly with respect to the internal temperature Tacm. Therefore, the ACM-ECU 206 estimates the internal temperature Tacm from this average duty ratio DUTave in consideration of this tendency.

Specifically, the internal temperature-average duty ratio characteristic (hereinafter, characteristic curve 500) associated with the number of points Np (here, vibration periods Pv1 to Pv3) is specified (for example, a plurality of characteristic curves 500a to 500c). The average duty ratio DUTave (for example, DUTave1) is specified based on the voltage duty ratio DUT together with the characteristic curve 500b).

Then, in the characteristic curve 500, the internal temperature Tacm (for example, Tacm1) corresponding to the average duty ratio DUTave is set to the current internal temperature Tacm. The average duty ratio change rate Rdave indicates the amount of change in the internal temperature Tacm when the average duty ratio DUTave is increased by 1.

As can be understood from the characteristic curve 500, when the drive current Id falls (in other words, when loop 2 and loop 3 are executed alternately), the average duty ratio DUTave is substantially linear according to the internal temperature Tac. Change. This is because when the internal temperature Tacm rises, the air in the actuator 210 expands, the air gap between the drive shaft 216 and the coil 218 widens, the inductance of the coil 218 decreases, and the responsiveness changes.

On the other hand, when the internal temperature Tamm is less than the reference temperature Tref, it is difficult to approximate the characteristic curve 500 to a linear straight line. This is because when the internal temperature Tacm is low, the degree of curing of the rubber plate 214 (FIG. 2) becomes large, and the internal temperature Tacm and the generated force Facm are not proportional to each other.

When the drive current Id rises (in other words, when loop 1 and loop 3 are executed alternately), the above-mentioned change in responsiveness is relatively small. Therefore, the average duty ratio DUTave is substantially constant regardless of the internal temperature Tacm.

(Calculation method of average duty ratio DUTave)
FIG. 18A shows an example of the target current waveform Wi. The target current waveform Wi (target current array Mi) of FIG. 18A is obtained by performing zero point correction on the target current waveform Wi of FIG. 11C. FIG. 18B is a diagram showing a voltage duty ratio DUT when the target current array Mi of FIG. 18A is used. Therefore, the horizontal axes of FIGS. 18A and 18B are the same. FIG. 18C is an enlarged view of a part of FIG. 18B.

The actuator drive control unit 258 calculates the average value of the voltage duty ratio DUT over the calculation target section Ztar (hereinafter, the average duty ratio DUTave). Here, the calculation target section Ztar corresponds to a section in which the voltage duty ratio DUT satisfies the relationship of THdut1 ≦ DUT ≦ THdut2.

Here, the actuator drive control unit 258 calculates the regression line 510 from the voltage duty ratio DUT in the calculation target section Ztar, and then calculates the average value ((DUTmax + DUTmin) / 2) of the maximum value DUTmax and the minimum value DUTmin of the regression line 510. , Calculated as the output average duty ratio DUTaveout.

<Details of internal temperature estimation unit 260>
FIG. 19 is a detailed block diagram showing the function of the internal temperature estimation unit 260 of FIG. The internal temperature estimation unit 260 includes an output waveform identification unit 530, an output average duty ratio calculation unit 532, a reference average duty ratio calculation unit 534, an average duty ratio change rate calculation unit 536, and an internal temperature calculation unit 538. Consists of including.

The output waveform specifying unit 530 acquires each voltage duty ratio DUT from the voltage duty ratio calculation unit 362 (FIG. 12) of the actuator drive control unit 258. Then, the output waveform specifying unit 530 collects each voltage duty ratio DUT for each waveform calculation cycle Pwc and outputs it as an output duty ratio array Miout.

The output average duty ratio calculation unit 532 calculates the output average duty ratio DUTaveout based on the output duty ratio array Miout from the output waveform identification unit 530. The calculation method described with reference to FIGS. 18A to 18C can be used.

The reference average duty ratio calculation unit 534 calculates the reference average duty ratio DUTaveref (FIG. 17) based on the primary command current Ic1 (FIG. 5) and the number of points Np (FIGS. 5 and 6). More specifically, the reference average duty ratio calculation unit 534 determines the reference average duty ratio DUTaveref corresponding to the combination of the primary command current Ic1 and the number of points Np by referring to the reference average duty ratio map 550 of FIG. read out.

FIG. 20 shows a reference average duty ratio map 550 used by the reference average duty ratio calculation unit 534 of FIG. The reference average duty ratio map 550 defines the relationship between the combination of the primary command current Ic1 and the number of points Np and the reference average duty ratio DUTaveref.

FIG. 21 is a diagram showing an example of the relationship between the number of points Np and the average duty ratio DUTave. Here, both the case where the number of points Np is an odd number and the case where the number of points Np is an even number are shown. The number of points Np is approximately proportional to the reciprocal (1 / Ne) of the engine speed Ne.

As shown in this figure, the relationship between the number of points Np and the average duty ratio DUTave is different depending on whether the number of points Np is odd or even. It is considered that this is because the position of the points shifts depending on whether the number of points Np is odd or even. In this case, the reference average duty ratio map 550 according to the evenness of the number of points Np may be prepared.

The average duty ratio change rate calculation unit 536 calculates the average duty ratio change rate Rdave (FIG. 17) based on the primary command current Ic1 (FIG. 5) and the number of points Np (FIGS. 5 and 6). More specifically, the average duty ratio change rate calculation unit 536 refers to the average duty ratio change rate map 560 of FIG. 22, and refers to the average duty ratio change corresponding to the combination of the primary command current Ic1 and the number of points Np. Read the rate Rdative.

FIG. 22 shows an average duty ratio change rate map 560 used by the average duty ratio change rate calculation unit 536 of FIG. The average duty ratio change rate map 560 defines the relationship between the combination of the primary command current Ic1 and the number of points Np and the average duty ratio change rate Rdave. As in the case of the reference average duty ratio map 550, the average duty ratio change rate map 560 according to the evenness of the number of points Np may be prepared.

The internal temperature calculation unit 538 calculates the internal temperature Tamcm of the actuator 210 based on the output average duty ratio DUTaveout, the reference average duty ratio DUTaveref, the average duty ratio change rate Rdutave, and the reference temperature Tref. Specifically, the internal temperature calculation unit 538 calculates the internal temperature Tacm based on the following formula (6). Note that this equation (6) is based on the premise that the characteristic curve 500 (FIG. 17) shows high linearity when the internal temperature Tacm is equal to or higher than the reference temperature Tref.
Tacm = (DUTaveout-DUTaveref) · Rdave + Tref (6)

<Details of correction execution judgment unit 264>
The correction execution determination unit 264 determines whether or not the correction of the operation command value C needs to be executed based on the internal information or the external information of the ACM-ECU 206. Here, the correction execution determination unit 264 determines whether the correction is executed (ON) or not executed (OFF) for each waveform calculation cycle Pwc. Hereinafter, an example of the determination method will be described in detail with reference to FIGS. 23 to 25.

FIG. 23 is a diagram showing an example of a correction OFF condition for determining non-execution of correction. This correction OFF condition is set based on the following four grounds.

(1. Linearity of characteristic curve 500)
From the first viewpoint, attention is paid to the tendency that the estimation accuracy of the internal temperature Tacm decreases in the low temperature range where the linearity of the characteristic curve 500 decreases. Examples of the correction OFF condition include [Condition 1] that the outside air temperature Tex is lower than the predetermined value, and [Condition 2] that the internal temperature Tacm is lower than the predetermined value.

In this way, the correction execution determination unit 264 may determine whether or not the correction of the operation command value C needs to be executed according to the information indicating the outside air temperature Tex or the internal temperature Tam of the actuator 210. For example, the correction execution determination unit 264 indicates that the operation command value C is corrected when the outside air temperature Tex or the internal temperature Tacm is equal to or higher than the threshold value, and the operation command is given when the outside air temperature Tex or the internal temperature Tace is lower than the threshold value. It may be determined that the correction of the value C is not performed.

By stopping the correction in the low temperature range where the linearity of the characteristic curve 500 (that is, the estimation accuracy of the internal temperature Tacm) decreases, it is possible to prevent the performance deterioration of the active vibration isolator 200 due to, for example, overcorrection. ..

(2. Downstream average duty ratio DUTave sensitivity)
From the second aspect, attention is paid to the tendency that the estimation accuracy of the internal temperature Tacm is lowered in the situation where the sensitivity of the downlink average duty ratio DUTave to the internal temperature Tacm is low. As the correction OFF condition, [Condition 3] the current value of the drive current Id is lower than the predetermined value, and [Condition 4] the parameter (vibration period Pv or the number of points Np) related to the vibration cycle Pv is smaller than the predetermined value. Can be mentioned.

FIG. 24 is a diagram showing an example of the relationship between the internal temperature Tacm and the downlink average duty ratio DUTave. Here, plots are made for each magnitude (current value) of the drive current Id, and the graphs are used for notation.

As can be seen from this figure, the average duty ratio DUTave has high linearity with respect to the internal temperature Tacm at any current value. However, the higher the current value, the larger the slope of the approximate straight line (return line 510 in FIG. 18C), while the lower the current value, the smaller the slope of the approximate straight line. In this case, the threshold value of the drive current Id is set to a current value (that is, an allowable lower limit value) so as to obtain a slope that can sufficiently secure the estimation accuracy (calculation resolution) of the internal temperature Tacm.

In this way, the correction execution determination unit 264 may determine whether or not the correction of the operation command value C needs to be executed according to the information indicating the driving state of the actuator 210 or the vibration state of the engine 12. For example, the correction execution determination unit 264 corrects the operation command value C when the drive current Id of the actuator 210 or the vibration cycle Pv of the engine 12 is equal to or greater than the threshold value, according to the drive current Id of the actuator 210 or the engine 12. When the vibration period Pv is smaller than the threshold value, it may be determined that the operation command value C is not corrected.

By stopping the correction in the range (small current or short cycle) where the sensitivity to the internal temperature Tacm (that is, the estimation accuracy of the internal temperature Tacm) decreases, the performance of the active vibration isolator 200 deteriorates due to, for example, overcorrection. Can be prevented.

(3. Drive stability of actuator 210)
From the third aspect, attention is paid to the tendency that the estimation accuracy of the internal temperature Tacm is lowered in the situation where the drive stability of the actuator 210 (for example, the position of the drive shaft 216) is low. As the correction OFF condition, [Condition 5] that the amount of change in the information having a high correlation with the drive stability (specifically, the drive current Id or the vibration period Pv) is larger than the predetermined value.

In this way, the correction execution determination unit 264 may determine whether or not the correction of the operation command value C needs to be executed according to the time change of the information indicating the driving state of the actuator 210 or the vibration state of the engine 12. For example, the correction execution determination unit 264 corrects the operation command value C when the change amount of the drive current Id of the actuator 210 or the vibration cycle Pv of the engine 12 is equal to or less than the threshold value. When the amount of change in the vibration cycle Pv of the engine 12 is larger than the threshold value, it may be determined that the operation command value C is not corrected.

By stopping the correction in a state where the drive stability of the actuator 210 is evaluated to be low, it is possible to prevent the performance deterioration of the active vibration isolator 200 due to, for example, overcorrection.

(4. When the operation command value C contains a secondary component)
From the fourth aspect, attention is paid to the tendency that the estimation accuracy of the internal temperature Tacm is lowered in the situation where the operation command value C includes a secondary component having a low correlation with the internal temperature Tacm. As the correction OFF condition, [Condition 6] that the operation command value C including the secondary component is generated is mentioned. The success or failure of this condition 6 can be determined by using, for example, the value of the correction mode flag Flmgmod (first calculation mode / second calculation mode).

In this way, when the command value calculation unit 252 can switch between the first calculation mode and the second calculation mode and execute, the correction execution determination unit 264 corrects the operation command value C calculated by the first calculation mode. It may be determined that the operation command value C calculated by the second calculation mode is not corrected. By stopping the correction of the operation command value C including the multi-order component that can reduce the correlation of the characteristic curve 500, it is possible to prevent the performance deterioration of the active vibration isolator 200 due to, for example, overcorrection.

(5. Frequency of switching the correction on / off state)
From the fifth viewpoint, attention is paid to the tendency that the estimation accuracy of the internal temperature Tacm is lowered in the situation where the on / off state of the correction is frequently switched. As the correction OFF condition, [7] that the success or failure of the above conditions 1 to 6 is frequently switched.

(6. Specific judgment example)
FIG. 25 is a diagram showing a specific determination result by the correction execution determination unit 264 of FIG. Here, the correction execution judgment unit 264 determines that the correction is "ON" when all the results of the first to fourth judgments are "true", while the correction execution judgment unit 264 corrects when there is even one judgment result of "false". Judge as "OFF". In this determination table, the cells indicating the determination result of "false" are hatched.

In the first determination, when the peak current value (unit: A) is 3 [A] or more, it is determined to be "true", while when the peak current value is less than 3 [A], it is determined to be "false". .. Here, the "peak current value" is defined by the maximum value (peak value) of the drive current Id in each waveform calculation cycle Pwc.

In the second determination, when the absolute value of the current change amount (unit: A) is 0.5 [A] or less, it is determined as "true", while the absolute value of the current change amount is 0.5 [A]. If it exceeds, it is judged as "false". Here, the "current change amount" is defined by subtracting the previous peak current value from the current peak current value.

In the third determination, when the absolute value of the accumulated change amount (unit: A) for the past three times is 0.5 [A] or less, it is determined as "true", while the absolute value of the integrated change amount is 0. If it exceeds .5 [A], it is judged as "false". Here, the "integrated value of the amount of change" for the past three times is defined by the value obtained by adding the amount of current changes (signed) of the previous time and the time before the previous time.

In the fourth determination, when the number of consecutive times (unit: times) in the stable state is 3 or more, it is determined as "true", while when the number of consecutive times is less than 3, it is determined as "false". Here, the "continuous number of times" in the stable state is defined by the number of times that the determination result of the current change amount is continuously "true".

As shown in this figure, (# 1) 4.1A → (# 2) 4.7A → (# 3) 4.8A → (# 4) 4.9A → (# 5) 4.8A → (# 6) ) 4.9A → (# 7) 4.9A → (# 8) 4.3A → (# 9) 4.0A → (# 10) 4.5A → (# 11) 4.6A, and the peak current value is When the time changes, it is determined that the correction is "ON" in # 5 to # 8 and the correction is "OFF" in other cases.

[Effect of active anti-vibration device 200]
As described above, in the active vibration isolator 200, the actuator 210 arranged between the engine 12 (drive source) and the vehicle body 14 and the actuator 210 generate active vibration to generate active vibration from the engine 12 to the vehicle body 14. It is a device including an ACM-ECU 206 (computer) that suppresses vibration transmission to.

The ACM-ECU 206 uses [1] a command value calculation unit 252 that calculates an operation command value C of the actuator 210 from vibration information (vibration amplitude Av, vibration cycle Pv) of the engine 12, and [2] an internal temperature Tacm of the actuator 210. A command value correction unit 254 that corrects the operation command value C accordingly, and an actuator drive control unit 258 that applies a drive voltage Vd to the actuator 210 using the voltage duty ratio DUT based on the corrected operation command value C. [4] Correction of the operation command value C by the internal temperature estimation unit 260 that estimates the internal temperature Tam based on the average duty ratio DUTave as the average of the voltage duty ratio DUT in the predetermined section, and [5] the command value correction unit 254. The correction execution determination unit 264 for determining whether or not the execution is necessary is provided.

High correlation and high reproducibility are partially observed in the characteristic curve 500 showing the relationship of the average duty ratio DUTave with respect to the internal temperature Tacm of the actuator 210. Therefore, by correcting the operation command value C based on this tendency, the internal temperature Tamm of the actuator 210 can be estimated with high accuracy. Moreover, by determining whether or not the correction of the operation command value C needs to be executed, the correction can be executed or stopped in a timely manner according to various situations.

[Supplement]
It should be noted that the present invention is not limited to the above-described embodiment, and of course, it can be freely changed without departing from the gist of the present invention. Alternatively, each configuration may be arbitrarily combined as long as there is no technical contradiction.

In the above-described embodiment, the active vibration isolator 200 is mounted on the vehicle 10 which is an engine vehicle, but the scope of application is not limited to this. For example, it may be a general vehicle including a hybrid vehicle, or may be applied to a moving body (ship or aircraft) having a drive source, a manufacturing device, a robot, or a home electric appliance.

In the above-described embodiment, the internal temperature estimation unit 260 estimates the internal temperature Tacm based on the equation (6), but the estimation model is not limited to this. For example, an estimation model in which the characteristic curve 500 is approximated by a nonlinear function including a polynomial function of a second order or higher and an exponential function may be used on condition that the characteristic curve 500 has high correlation and high reproducibility.

In the above-described embodiment, the correction execution determination unit 264 determines whether or not the correction needs to be executed every Pwc of the waveform calculation cycle, but the determination timing is not limited to this. For example, it may be determined every plurality of waveform calculation cycles Pwc (= n · Pwc; n is an integer of 2 or more).

10 ... Vehicle 12 ... Engine (drive source)
14 ... Body 200 ... Active anti-vibration device 202f, 202r ... Engine mount 206 ... ACM-ECU (computer)
210 ... Actuator 250 ... Engine state variable calculation unit 252 ... Command value calculation unit 254 ... Command value correction unit 256 ... Target current waveform calculation unit 258 ... Actuator drive control unit 260 ... Internal temperature estimation unit 262 ... Internal temperature adjustment unit 264 ... Correction Execution judgment unit 300 ... Point number map 350 ... Target current waveform map 500 ... Characteristic curve 550 ... Reference average duty ratio map 560 ... Average duty ratio change rate map Av ... Vibration amplitude (vibration information) C ... Operation command value DUT ... Voltage duty Ratio DUTave ... Average duty ratio Flmgmod ... Correction mode flag Ic1 ... Primary command current Ic2 ... Secondary command current Icrt1 ... Correction value Pc1 ... Primary phase Pc2 ... Secondary phase Psw ... Switching cycle Pv ... Vibration cycle (vibration information)
Pwc ... Waveform calculation cycle (calculation cycle) Tacm ... Internal temperature Vd ... Drive voltage Wi ... Target current waveform Ztar ... Calculation target section (predetermined section)

Claims (8)

Actuators placed between the drive source and the vehicle body,
A computer that suppresses vibration transmission from the drive source to the vehicle body by causing the actuator to generate active vibration.
It is an active type anti-vibration device equipped with
The computer
A command value calculation unit that calculates the operation command value of the actuator from the vibration information of the drive source, and
A command value correction unit that corrects the operation command value according to the internal temperature of the actuator,
A target current waveform calculation unit that calculates a target current waveform based on the operation command value corrected by the command value correction unit, and a target current waveform calculation unit.
An actuator drive control unit that applies a drive voltage to the actuator using a voltage duty ratio calculated based on the target current waveform .
An internal temperature estimation unit that estimates the internal temperature based on the average duty ratio as the average of the voltage duty ratios in a predetermined section.
A correction execution determination unit that determines whether or not the operation command value correction by the command value correction unit needs to be executed,
One waveform calculation cycle of the target current waveform is divided into a current rising section, which is a section from the bottom value to the peak value of the current, and a current falling section, which is a section from the peak value to the bottom value of the current. The active vibration isolator , wherein the predetermined section corresponds to all or a part of the current drop section . In the active anti-vibration device according to claim 1,
The correction execution determination unit is an active vibration isolator that determines whether or not correction of the operation command value needs to be executed according to information indicating the outside air temperature or the internal temperature of the actuator. In the active anti-vibration device according to claim 2.
The correction execution determination unit is an active vibration isolator that determines that the operation command value is not corrected when the outside air temperature or the internal temperature is lower than a threshold value. In the active anti-vibration device according to claim 1,
The correction execution determination unit is an active vibration isolator that determines whether or not correction of the operation command value needs to be executed according to information indicating a driving state of the actuator or a vibration state of the driving source. In the active anti-vibration device according to claim 4.
The correction execution determination unit is an active vibration isolator that determines that the operation command value is not corrected when the drive current of the actuator or the vibration cycle of the drive source is smaller than the threshold value. In the active anti-vibration device according to claim 1,
The correction execution determination unit determines whether or not to execute correction of the operation command value according to a time change of information indicating a driving state of the actuator or a vibration state of the driving source. Vibration device. In the active anti-vibration device according to claim 6.
The correction execution determination unit determines that the operation command value is not corrected when the drive current of the actuator or the change amount of the vibration cycle of the drive source is larger than the threshold value. Shaking device. In the active anti-vibration device according to claim 1,
The command value calculation unit includes a first calculation mode for calculating the operation command value including a primary component corresponding to the vibration cycle of the drive source, and the operation composed of primary and plural components corresponding to the vibration cycle. It can be executed by switching between the second calculation mode that calculates the command value.
The correction execution determination unit is an active vibration isolation device, characterized in that it determines that the operation command value calculated by the second calculation mode is not corrected.

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