ADAPTIVE CONTROLLER

Abstract

An adaptive controller includes an adaptive-signal generator for generating an adaptive signal, which includes a first amplitude filter coefficient and a first phase filter coefficient, in a first transfer path based on an angular frequency of a cyclic signal, which a vibration generation source generates; a first residual-error detector for detecting a first residual error at a first observation point in the first transfer path; an observation-point target-value setter for setting a residual-error target value, which includes an amplitude target value complying with the angular frequency; and a first filter-coefficient updater for updating the first amplitude filter coefficient and the first phase filter coefficient based on the angular frequency, the first residual error and the residual-error target value. Thus, when adding the adaptive signal to the cyclic signal, the adaptive controller can make the residual error, which results from the addition, not equal to zero intentionally.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete appreciation of the present invention and many of its advantages will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings and detailed specification, all of which forms a part of the disclosure.

FIG. 1 is a block diagram for illustrating an adaptive controller 1 for cyclic signal according to Example No. 1 and Example No. 2 of the present invention.

FIG. 2 is a diagram for illustrating signal levels when no phase target value is set.

FIG. 3 is a diagram for illustrating signal levels when a phase target value is set.

FIG. 4 is a block diagram for illustrating an adaptive controller 100 for cyclic signal according to Example No. 3 and Example No. 4 of the present invention.

Claims

1. An adaptive controller for cyclic signal, the adaptive controller for actively reducing the influences of cyclic signal, which the cyclic signal exerts to an objective evaluation point by way of a predetermined transfer path, by adding an adaptive signal, which synchronizes with the cyclic signal, to the cyclic signal, which a vibration generation source generates, the predetermined transfer path comprising a first transfer path;the adaptive controller comprising:an adaptive-signal generator for generating the adaptive signal, whose constituent element comprises a first amplitude filter coefficient and a first phase filter coefficient, in the first transfer path based on an angular frequency of a specific frequency, the specific frequency being at least one frequency component selected from a plurality of frequency components making the cyclic signal;a first residual-error detector for detecting a first residual error, which results from adding the adaptive signal to the cyclic signal by way of a predetermined first transfer characteristic, at a first observation point, which is located between the adaptive-signal generator and the objective estimation point in the first transfer path;an observation-point target-value setter for setting a residual-error target value, a cyclic residual-error target value at the first observation point, based on the angular frequency, the residual-error target value comprising an amplitude target value complying with the angular frequency; anda first filter-coefficient updater for updating the first amplitude filter coefficient and the first phase filter coefficient based on the angular frequency, the first residual error and the residual-error target value.

2. The adaptive controller according to claim 1, wherein the residual-error target value comprises a phase target value, which complies with the angular frequency.

3. The adaptive controller according to claim 1 further comprising a first estimated-transfer-function calculator for calculating an estimated value for a transfer function of the first transfer characteristic based on the angular frequency, wherein: the adaptive-signal generator generates the adaptive signal in the first transfer path, the adaptive signal being produced according to following Equation (1); andthe first filter-coefficient updater updates the first amplitude filter coefficient and the first phase filter coefficient in Equation (1) according to following Equations (2), (3) and (4) or following Equations (5), (6) and (7) based on the angular frequency, the first residual error, the first transfer-function estimated value and the residual-error target value, y1n=a1n·sin(ω·tn+φ1n)  Equation (1)wherein:y1n: Adaptive Signal;a1n: First Amplitude Filter Coefficient;φ1n: First Phase Filter Coefficient;ω: Angular Frequency of Specific Frequency (i.e., One of Frequency Components of Cyclic Signal);tn: Time (i.e., Sampling Cycle T×Discrete Time n); andn: Discrete Time; a1n+1=a1n−μa1·Ah1·(e1n−et arg etn)sin(ω·tn+φ1n+Φh1)  Equation (2)φ1n+1=φ1n−μφ1·(e1n−et arg etn)cos(ω·tn+φ1n+Φh1)  Equation (3)et arg etn=ae·sin(ω·tn)  Equation (4)wherein:μa1: Step-size Parameter for First Amplitude;μφ1: Step-size Parameter for First Phase;Ah1: Amplitude Component of Estimated Value Gh1 for Transfer Function of First Transfer Characteristic Gh;Φh1: Phase Component of Estimated Value Gh1 for Transfer Function of First Transfer Characteristic Gh;e1n: Residual-error Signal;et arg etn: Residual-error Target Value; andae: Amplitude Target Value; a1n+1=a1n−μa1·Ah1·(e1n−et arg etn)·sin(ω·tn+φ1n+Φh1)  Equation (5)φ1n+1=φ1n−μφ1·Ah1·a1n·(e1n−et arg etn)·cos(ω·tn+φ1n+Φh1)  Equation (6)et arg etn=ae·sin(ω·tn).  Equation (7)

4. The adaptive controller according to claim 2 further comprising a first estimated-transfer-function calculator for calculating an estimated value for a transfer function of the first transfer characteristic based on the angular frequency, wherein: the adaptive-signal generator generates the adaptive signal in the first transfer path, the adaptive signal being produced according to following Equation (8); andthe first filter-coefficient updater updates the first amplitude filter coefficient and the first phase filter coefficient in Equation (8) according to following Equations (9), (10) and (11) or following Equations (12), (13) and (14) based on the angular frequency, the first residual error, the first transfer-function estimated value and the residual-error target value, y1n=a1n·sin(ω·tn+φ1n)  Equation (8)wherein:y1n: Adaptive Signal;a1n: First Amplitude Filter Coefficient;Φ1n: First Phase Filter Coefficient;ω: Angular Frequency of Specific Frequency (i.e., One of Frequency Components of Cyclic Signal);tn: Time (i.e., Sampling Cycle T×Discrete Time n); andn: Discrete Time; a1n+1=a1n−μa1·Ah1·(e1n−et arg etn)·sin(ω·tn+φ1n+Φh1)  Equation (9)φ1n+1=φ1n−μφ1·(e1n−et arg etn)·cos(ω·tn+φ1n+Φh1)  Equation (10)et arg etn=ae·sin(ω·tn+φe)  Equation (11)wherein:μa1: Step-size Parameter for First Amplitude;μφ1: Step-size Parameter for First Phase;Ah1: Amplitude Component of Estimated Value Gh1 for Transfer Function of First Transfer Characteristic Gh;Φh1: Phase Component of Estimated Value Gh1 for Transfer Function of First Transfer Characteristic;e1n: Residual-error Signal;et arg etn: Residual-error Target Value;ae: Amplitude Target Value; andφe: Phase Target Value; a1n+1=a1n−μa1·Ah1·(e1n−et arg etn)·sin(ω·tn+φ1n+Φh1)  Equation (12)φ1n+1=φ1n−μφ1·Ah1·a1n·(e1n−et arg etn)·cos(ω·tn+φ1n+Φh1)  Equation (13)et arg etn=ae·sin(ω·tn+φe).  Equation (14)

5. The adaptive controller according to claim 1, wherein: the predetermined transfer path comprises the first transfer path, and a second transfer path which differs from the first transfer path; andthe observation-point target value setter sets the amplitude target value based on a transfer characteristic of the second transfer path.

6. The adaptive controller according to claim 5, wherein the observation-point target-value setter stores the amplitude target value, which complies with the angular frequency, in advance, and sets the amplitude target value based on the angular frequency of the cyclic signal, which the vibration generation source generates actually.

7. The adaptive controller according to claim 5, wherein the observation-point target-value setter comprises: an imaginary adaptive-signal generator for generating an imaginary adaptive signal in the second transfer path imaginarily, the imaginary adaptive signal being produced according to following Equation (15), whose constituent elements comprise the second amplitude filter coefficient and the second phase filter coefficient, based on the angular frequency;a vibration detector for detecting a second-observation-point vibration, which occurs based on the cyclic signal, at the second observation point in the second transfer path;an imaginary residual-error detector for detecting an imaginary residual error, which occurs by adding the imaginary adaptive signal to the cyclic signal imaginarily by way of a predetermined imaginary transfer characteristic at the second observation point based on the imaginary adaptive signal and the second-observation-point vibration;an imaginary transfer-function estimater for calculating an estimated value for a transfer function of the imaginary transfer characteristic based on the angular frequency;a second filter-coefficient updater for updating the second amplitude filter coefficient and the second phase filter coefficient in Equation (15) according to following Equations (16) and (17) or following Equations (18) and (19) based on the angular frequency, the imaginary residual error and the imaginary transfer-function estimated value; andan updated target-value setter for setting the updated second amplitude filter coefficient at the amplitude target value according to following Equation (20), y2n=a2n·sin(ω·tn+φ2n)  Equation (15)wherein:y2n: Imaginary Adaptive Signal;a2n: Second Amplitude Filter Coefficientφ2n: Second Phase Filter Coefficientω: Angular Frequency of Specific Frequency (i.e., One of Frequency Components of Cyclic Signal); andtn: Time (i.e., Sampling Cycle T×Discrete Time n); a2n+1a2nμa2·Ah2·e2n·sin(ω·tn+φ2n+Φh2)  Equation (16)φ2n+1=φ2nμφ2·e2n·cos(ω·tn+φ2n+Φh2)  Equation (17)wherein:μa2: Step-size Parameter for Second Amplitude;μφ2: Step-size Parameter for Second Phase;Ah2: Amplitude Component of Estimated Value Gh2 for Transfer Function of Imaginary Transfer Characteristic G2;Φh2: Phase Component of Estimated Value Gh2 for Transfer Function of Imaginary Transfer Characteristic G2; ande2n: Imaginary Residual-error Signal; a2n+1=a2n−μa2·Ah2·e2n·sin(ω·tn+φ2n+Φh2)  Equation (18)φ2n+1=φ2n−μφ2·Ah2·a2n·e2n·cos(ω·tn+φ2n+Φh2)  Equation (19)ae=a2n+1.  Equation (20)

8. The adaptive controller according to claim 2, wherein: the predetermined transfer path comprises the first transfer path, and a second transfer path which differs from the first transfer path; andthe observation-point target value setter sets the phase target value based on a transfer characteristic of the second transfer path.

9. The adaptive controller according to claim 8, wherein the observation-point target-value setter stores the phase target value, which complies with the angular frequency, in advance, and sets the phase target value based on the angular frequency of the cyclic signal, which the vibration generation source generates actually.

10. The adaptive controller according to claim 8, wherein the observation-point target-value setter comprises: an imaginary adaptive-signal generator for generating an imaginary adaptive signal in the second transfer path imaginarily, the imaginary adaptive signal being produced according to following Equation (21), whose constituent elements comprise the second amplitude filter coefficient and the second phase filter coefficient, based on the angular frequency;a vibration detector for detecting a second-observation-point vibration, which occurs based on the cyclic signal, at the second observation point in the second transfer path;an imaginary residual-error detector for detecting an imaginary residual error, which occurs by adding the imaginary adaptive signal to the cyclic signal imaginarily by way of a predetermined imaginary transfer characteristic at the second observation point based on the imaginary adaptive signal and the second-observation-point vibration;an imaginary transfer-function estimater for calculating an estimated value for a transfer function of the imaginary transfer characteristic based on the angular frequency;a second filter-coefficient updater for updating the second amplitude filter coefficient and the second phase filter coefficient in Equation (21) according to following Equations (22) and (23) or following Equations (24) and (25) based on the angular frequency, the imaginary residual error and the imaginary transfer-function estimated value; andan updated target-value setter for setting the updated second phase filter coefficient at the phase target value according to following Equation (26), y2n=a2n·sin(ω·tn+φ2n)  Equation (21)wherein:y2n: Imaginary Adaptive Signal;a2n: Second Amplitude Filter CoefficientΦ2n: Second Phase Filter Coefficientω: Angular Frequency of Specific Frequency (i.e., One of Frequency Components of Cyclic Signal); andtn: Time (i.e., Sampling Cycle T×Discrete Time n); a2n+1=a2n−μa2·Ah2e2n·sin(ω·tn+φ2n+Φh2)  Equation (22)φ2n+1=φ2n−μφ2·e2n·cos(ω·tn+φ2n+Φh2)  Equation (23)wherein:μa2: Step-size Parameter for Second Amplitude;μφ2: Step-size Parameter for Second Phase;Ah2: Amplitude Component of Estimated Value Gh2 for Transfer Function of Imaginary Transfer Characteristic G2;Φh2: Phase Component of Estimated Value Gh2 for Transfer Function of Imaginary Transfer Characteristic G2; ande2n: Imaginary Residual-error Signal; a2n+1=a2n−μa2·Ah2·e2n·sin(ω·tn+φ2n+Φh2)  Equation (24)φ2n+1=φ2n−μφ2·Ah2·a2n·e2n·cos(ω·tn+φ2n+Φh2)  Equation (25)φe=φ2n+1.  Equation (26)