CN102081368A - Cascadable feedforward active control unit and distributed feedforward active control system - Google Patents
Cascadable feedforward active control unit and distributed feedforward active control system Download PDFInfo
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Abstract
The invention discloses a cascadable feedforward active control unit and a distributed active control system consisting of the units in a cascading mode. The unit comprises a reference signal condition module, an error signal condition module, a digital signal processing module, a filtering module, a control signal drive module, a cascading communication module and a serial communication module, adopts a feedforward single-channel adaptive control algorithm and has a good control effect; the control system is stable; the unit can be independently used as a single-channel feedforward active control system; the cascading communication module of the unit is connected with the other units, so that the distributed feedforward active control system consists of a plurality of units in a serial cascading mode; the total number of channels of the control system can be arbitrarily increased and reduced according to the requirement; information transmission among the units is realized through the cascading communication module; and the serial communication module of the unit is connected with a computer, and the single-channel feedforward active control system or the distributed feedforward active control system consisting of the units is managed by the computer. The distributed active control system consists of a plurality of feedforward active control units in the cascading mode, and can replace a multi-channel controller on an occasion that the number of channels of the controller is large; the complexity and implementation cost of the control system are reduced; and the control system is easy to operate and flexibly configured, and has real-time control capability.
Description
One, technical field
The present invention relates to the active control module of a kind of feedforward, but relate in particular to a kind of active control module of feedforward of cascade, and a kind of by this unit cascaded distributed active guidance system of forming.The present invention is specially adapted to, but is not limited to, but the active control module cascaded series of the feedforward of a plurality of cascades is become distributed feedforward active guidance system, uses in the occasion of a plurality of control channels of needs.
Two, background technology
Active controller is the core of active guidance system, is widely used in noise and vibration control field.Active controller picks up original noise or vibration signal, and by calculating drive controlling source (loudspeaker or vibrator), noise or vibration signal and original noise or vibration signal interaction that Controlling Source is produced reach the purpose that reduces noise or vibration.Active controller is obvious to the inhibition effect of low-frequency noise and vibration, has remedied traditional noise and the vibration control method shortcoming in the low-frequency effect difference.At present, the active noise control system of active controller in extensively should active noise control system, active antinoise earmuff, active anti-noise earplug, aircraft and car cabin in pipeline.Also there is big quantity research in fields such as noise control, traffic noise control and transformer noise control at the communication facilities cabinet.
Active controller has single channel and multichannel, in the little occasion in controlled target zone, as active antinoise earmuff and active anti-noise earplug, can use the single channel control system.In the bigger occasion in controlled target zone,, need to use multi-channel control system as the Active noise control using in aircraft and the car cabin, high-power transformer Active noise control using, active noise reduction sound barrier and virtual sound screen.
For Multi Channel Controller, along with the increase of port number, operand increases the geometric series form, because the restriction of chip arithmetic capability, prior art is difficult to the above controller of realization 16 passages.On the other hand, the increase of operand need be adopted high-end digital processing chip, and cost is very high.For example, the EZ-ANC II type active controller that Australia Kao Zi system house produces is 10 passages, the active controller that Nanjing University's acoustics is developed is 16 passages, domestic other research unit such as Northwestern Polytechnical University, Acoustical Inst., Chinese Academy of Sciences etc. also study and have made some active controllers, these controller channel numbers generally are less than 16, application power is limited, is mainly used in scientific research and basic experiment.
Therefore, requiring the bigger occasion of controller channel quantity,, use that centralized multi-channel control system difficulty is big, cost is high, is difficult to practicality as the Active noise control using of active noise reduction sound barrier, high-power transformer.Distributed active guidance system is made of a plurality of single channel control units, can reduce the calculated amount of active guidance system, and cost also significantly reduces, and can replace multi-channel control system to use in above-mentioned occasion.For example, the last Japanese scholar of international acoustics conference (ICA2004) had reported them the progress in active acoustic shielding research in 2004, and they use dcs to test on 40 meters long sound barriers, obtain certain noise reduction.
The structure dcs has two kinds of methods, a kind of is in Multi Channel Controller, change the algorithm of digital signal processing module, Multi Channel Controller is arranged to a plurality of single channel control units to be used, as the EZ-ANC II type active controller that Australian Kao Zi system house produces, it is the controller of 10 passages, also can be set to 10 single channel control units and use, the shortcoming of this method is that (1) Multi Channel Controller port number is few, and therefore the dcs passage of structure is also few; (2) Multi Channel Controller is an integral body, is inconvenient to expand; Various connecting lines were many and grow when (3) distributed dimension of active guidance system was big, and as in active acoustic shielding, controller will connect sensor, Controlling Source, and the connecting line of each passage all will be pooled on the controller, inconvenience.In the method for another kind of structure dcs, use a plurality of single channel control units as the unit, each single channel control unit physics is independent, such as being installed in the cabinet that independently size is little, therefore flexible arrangement in use, expansion is convenient, and is equidistant near with the sensor that will be connected, Controlling Source, for example 2004 international acoustics conference (ICA2004) go up in Japanese scholar's the academic report point out that the dcs that they use is this form in active acoustic shielding.The shortcoming of a kind of dcs in back is that (1) system uses feedback controller as control module substantially, and it requires error microphone just can make system stability near secondary sound source, and it is limited therefore to control effect; (2) there is water bed effect in feedback control system, promptly must cause the enhancing of other frequency range noise in the noise attentuation of some frequency range; (3) independent fully between present each control module of dcs, there is not information transfer channel, be unfavorable for debugging and monitoring management.
Three, summary of the invention
But it is the active control module of the feedforward that the purpose of this invention is to provide a kind of cascade, and a kind of by this unit cascaded distributed active guidance system of forming.This control module adopts feedforward single channel adaptive control algorithm, and control system is stable; This control module can independently use as single channel feedforward active guidance system, and a plurality of these control module serializable cascaded series become distributed feedforward active guidance system to use; The overall channel number of control system can increase and decrease arbitrarily as required; Each control module can be by the information transmission between cascade communication module realization unit; Can manage single channel feedforward active guidance system or the distributed feedforward active guidance system of forming by this unit by computing machine.
According to a first aspect of the invention, but the active control module of the feedforward that a kind of cascade is provided, this control module can independently use as single channel feedforward active guidance system, and a plurality of these control module serializable cascaded series become distributed feedforward active guidance system to use.
This unit comprises reference signal condition module, error signal condition module, digital signal processing module, filtration module, control signal driver module, cascade communication module, serial communication module.From (the traffic noise signal for example of the reference signal beyond this unit, the transformer noise signal, communication facilities casing vibration signal) through reference signal condition module supplied with digital signal processing module, from (the traffic noise signal for example of the error signal beyond this unit, the transformer noise signal, communication facilities casing vibration signal) through error signal condition module supplied with digital signal processing module, the digital signal processing module of this unit is by calculating control signal, and control signal is imported Controlling Source beyond this unit (loudspeaker for example through filtration module and control signal driver module successively, vibrator).The cascade communication module of this unit is used to connect other unit, makes a plurality of these unit serializable cascaded series become distributed feedforward active guidance system.The serial communication module of this unit is used to connect computing machine.
The cascade communication module of each unit has two interfaces, i.e. upstream Interface and downstream interface.This unit can independently use as single channel feedforward active guidance system, at this moment, does not use this two interfaces; When distributed feedforward active guidance system is formed in a plurality of unit, each unit connects successively by two interfaces of the cascade communication module of self, be the upstream Interface of Unit one, downstream interface connection back of last unit, serially concatenated is formed distributed feedforward active guidance system.
When this unit independently uses as single channel feedforward active guidance system, the serial communication module of this unit links to each other with computing machine, computing machine by serial ports of computers, this unit this passage of serial ports communication module to this unit transmit operation order with receive the status information of this unit; When distributed feedforward active guidance system is formed in a plurality of unit, each unit serially concatenated, first unit is connected with computing machine by the serial communication module, this passage of cascade communication module of the serial communication module of computing machine by serial ports of computers, first unit, each unit can be debugged and monitoring management any unit by computing machine thus easily to arbitrarily or all unit transmit operation orders and receiving arbitrarily or the status information of all unit.。
The filtration module of this unit is reconstruct filtration module or low-pass filtering module, and the signal from digital signal processor is carried out filtering, exports control signal by control signal drivers to Controlling Source again.
The digital signal processing module of this unit adopts all the feedforward of detailed argumentation single channel adaptive control algorithm on the present textbook.
According to a second aspect of the invention, a kind of distributed feedforward active guidance system is provided, but this system is by being connected successively with downstream interface as the active control module of feedforward of the described cascade of content first aspect of the present invention upstream Interface by the cascade communication module of each unit, be the upstream Interface of Unit one, downstream interface connection back of last unit, serially concatenated is formed.For example, if distributed feedforward active guidance system is formed in total N unit, then the downstream interface of first unit connects the upstream Interface of second unit, the downstream interface of second unit connects the upstream Interface of the 3rd unit, the rest may be inferred, at last, the downstream interface of N-1 unit connects the upstream Interface of N unit.
But the digital signal processing module of the active control module of feedforward of forming each cascade of this system adopts feedforward single channel adaptive control algorithm, the digital signal processing module that is each unit is only relevant with reference signal, the error signal of this unit by calculating control signal, with haveing nothing to do of other unit.
But the active control module number of feedforward of forming the cascade of this system can increase and decrease arbitrarily as required.
But the active control module serially concatenated of feedforward of forming each cascade of this system, first unit is connected with computing machine by the serial communication module, and this passage of cascade communication module of the serial communication module of computing machine by serial ports of computers, first unit, each unit is to arbitrarily or all unit transmit operation orders and receive the status information of any or all unit.
The invention has the beneficial effects as follows: (1) but use the active control module of feedforward of cascade of the present invention to constitute distributed feedforward active guidance system, can solve the two large problems that uses the active control module of feedback, (the control system effect is good more promptly to control double-barreled question between effect and the system stability, it is unstable more that system can become), and water bed effect problem (noise attentuation of some frequency range must cause the enhancing of other frequency range noise); (2) the active control module of feedforward of the present invention has the cascade communication module, by the distributed feedforward active guidance system that this unit is formed, can realize the information transmission between any unit; (3) distributed active guidance system of the present invention can software interface on computers be provided with the various controlled variable of each unit of forming this system, issue various operational orders, show the status information of each unit, easy and simple to handle, easily any unit is debugged and monitoring management; (4) use the active control module of feedforward of the present invention to constitute distributed feedforward active guidance system, the overall channel number can increase and decrease arbitrarily according to the needs of scientific research or Project Realization, and expansion is convenient; (5) requiring the bigger occasion of controller channel quantity, distributed active guidance system of the present invention can replace Multi Channel Controller, reduces the complexity of control system and realizes cost.
Four, description of drawings
Understand and enforcement the present invention for convenient, can describe exemplary preferred embodiment with reference to the accompanying drawings, wherein:
But Fig. 1 is the schematic diagram of the active control module of feedforward of cascade;
Fig. 2 is the schematic diagram of distributed feedforward control system;
Fig. 3 is the software module synoptic diagram;
Fig. 4 is the bang path figure of operational order in each software module;
But Fig. 5 is the program flow diagram of DSP of the active control module of feedforward of cascade;
Fig. 6 is the software interface that moves on the computing machine.
Five, embodiment
The present invention is described in detail below by example:
But active control module 1 schematic diagram of the feedforward of cascade of the present invention is seen Fig. 1, comprising: reference signal condition module 3, error signal condition module 4, digital signal processing module 5, filtration module 6, control signal driver module 7, cascade communication module 8 and serial communication module 9.Signal from the reference sensor 12 beyond this unit is handled back supplied with digital signal processing module 5 through reference signal condition module 3; Signal process error signal condition module 4 supplied with digital signal processing modules 5 from the error pick-up 13 beyond this unit; The digital signal processing module 5 of this unit calculates control signal by feedforward single channel adaptive algorithm, and control signal is successively through the Controlling Source 14 beyond filtration module 6 and control signal driver module 7 these unit of input.
Reference signal condition module 3 can realize by mimic channel, and signal amplification, shaping, the normalization of self-reference microphone 12 in the future is input to the analog input end of digital signal processing module 5 again.Error signal condition module 4 can be realized by mimic channel, will be input to the analog input end of digital signal processing module 5 again from signal amplification, filtering, the normalization of error pick-up 13.
Digital signal processing module 5 comprises a modulus/analog-digital chip, a real time data processing chip, and modulus/analog-digital chip is converted into the signal of digital signal processing module 5 analog input ends digital signal and inputs to the real time data processing chip.The real time data processing chip calculates control signal and exports modulus/analog-digital chip to, and modulus/analog-digital chip is converted into simulating signal with this signal and exports digital signal processing module 5 analog outputs to.
The signal of digital signal processing module 5 analog outputs arrives control signal driver module 7 through filtration module 6.Filtration module 6 can be realized with mimic channel, signal is reconstructed filtering, and ends at 1000Hz, and as required, cutoff frequency can be expanded, as to 1600Hz.Control signal driver module 7 can realize that in order to drive controlling source 14, this example adopts the power amplifier drive controlling source of 30W with mimic channel.
Cascade communication module 8 uses eight pins of the dsp chip in the digital signal processing module 5 to define realization voluntarily, wherein four pins are upstream Interface 10, four pins are downstream interface 11 in addition, and upstream Interface is used to connect last unit, and downstream interface is used for connecting Unit one, back.Except that the method for present embodiment, cascade communication module 8 also can otherwise realize, for example selects the TCP/IP network interface chip for use.
As only that a unit is independent of the use of single channel feedforward active guidance system, need not use cascade communication module 8, the serial communication module 9 of this unit is connected with computing machine 15, can be by the software interface on the computing machine 15 to the status information of this unit transmit operation order and this unit of reception.Operational order is carried out through the serial communication module 9 arrival digital signal processing modules 5 of computer software interface program, serial ports of computers, this unit and by digital signal processing module 5 successively; On the other hand, digital signal processing module 5 arrives status informations such as the duty of this unit and input signal amplitudes in the computer software interface program by serial communication module 9, serial ports of computers successively and is shown on the software interface.
Whole unit can integratedly be installed in the small size cabinet inside that there is interface an outside, interface comprise with reference to the interface of microphone, error microphone, with the interface of Controlling Source, upstream Interface 10, downstream interface 11 and serial ports.
The schematic diagram of distributed feedforward active guidance system 2 of the present invention is seen Fig. 2, and it is connected successively by the cascade communication module 8 that each active control module 1 that feedovers passes through self, and serially concatenated is formed.As shown in Figure 2, the distributed feedforward active guidance system of forming by N unit 2, the downstream interface 11 of first unit connects the upstream Interface 10 of second unit, the downstream interface 11 of second unit connects the upstream Interface 10 of the 3rd unit, the rest may be inferred, at last, the downstream interface 11 of N-1 unit connects the upstream Interface 10 of N unit.First unit is connected with computing machine by the serial communication module 9 of this unit.Can also can receive arbitrarily or the status information of all unit, and be shown on the software interface by computing machine 15 to any or all unit transmit operation orders by computing machine 15.Can debug and monitoring management by 15 pairs of any unit of computing machine easily and flexibly thus.Number of unit N can be according to using needs to increase and decrease arbitrarily.
But the digital signal processing module 5 of the active control module 1 of feedforward of forming each cascade of distributed feedforward active guidance system 2 adopts feedforward single channel adaptive control algorithms, the digital signal processing module 5 that is each unit is only relevant with reference signal, the error signal of this unit by calculating control signal, with haveing nothing to do of other unit.In other words, this system is distributed control, but manages concentratedly by cascade system.
The software programming of present embodiment is divided into five parts, as shown in Figure 3: (1) feedforward control algorithm software module: the modeling software module that comprises physical field between Controlling Source and error pick-up, real-time control signal produces software module, control signal update software module is carried out on the dsp chip at digital signal processing module 5 places of each unit; (2) Operation and Maintenance software module: comprise operational order process software module, the state information report software module is carried out on the dsp chip at digital signal processing module 5 places of each unit; (3) cascade communication software module is carried out on the dsp chip at digital signal processing module 5 places of each unit; (4) serial communication software module is being carried out on the dsp chip at digital signal processing module 5 places of each unit and on the computing machine; (5) user interface software module is carried out on computing machine 15.On DSP, adopt assembly language and C language to program, adopt the CVI tool software of American National instrument to program on computers.
The feedforward control algorithm can adopt FXLMS algorithm commonly used, and is divided into the modeling software module of Controlling Source 14 and 13 physical fields of error pick-up, and real-time control signal produces software module and three parts of control signal update software module.
Operational order process software resume module is from the operational order of cascade communication module 8, and the state information report software module passes to cascade communication module 8 with the information such as filter coefficient of each unit self working state, input signal amplitude and digital signal processing module 5.
The cascade communication software module receives from the downstream message of upstream Interface 10 with the serial communication software module, and from the upstream message of downstream interface 11 with the state information report software module.Downstream message is an operational order, if operational order to as if this unit, then operational order is passed to operational order process software module, if operational order to as if all unit, then operational order is passed to operational order process software module and downstream interface 11, if operational order to as if the unit of back, then operational order is passed to downstream interface 11.Upstream message is the status information of unit, back or this unit, and this unit to upstream Interface 10, if this unit is first unit, then is forwarded to the serial communication software module with this forwards.
Only the serial communication software module of first unit is work, and its receives the downstream message from computing machine 15, and from the upstream message of cascade communication software module.Downstream message is an operational order, if operational order to as if this unit, then operational order is passed to operational order process software module, if operational order to as if all unit, then operational order is passed to operational order process software module and downstream interface 11, if operational order to as if the unit of back, then operational order is passed to downstream interface 11.Upstream message is the status information of unit, back or this unit, and this unit passes to this message the serial ports of computing machine 15.
Serial communication module on the computing machine will pass to serial ports of computers from the operational order of user's interface module, will pass to subscriber interface module from the status information of serial ports of computers.
Subscriber interface module on the computing machine provides graphical interfaces to realize friendly man-machine interaction, can issue operational order to certain discrete cell or all unit by the interface, and observe the status information that each unit reports.Operational order includes but not limited to that secondary channel modeling start and stop, adaptive control start and stop, fixed filters coefficient control start and stop, the parameters that the feedforward control algorithm is set, filter coefficient reset, access filter coefficient, system initialization, System self-test and system reset etc., and the digital signal processing module of each unit is carried out corresponding function according to the command context that receives.Status information comprises the filter coefficient of cell operation state, input signal amplitude and digital signal processing module etc., and the digital signal processing module of each unit is uploaded to the status information of this unit the software interface demonstration of computing machine.An optional user interface example as shown in Figure 6.
Fig. 3 and Fig. 4 have shown status information and the operational order bang path in each software module respectively.
The program flow diagram of the software among the DSP at first carries out self check after each unit start as shown in Figure 5, and monitoring DSP interrupts after the self check, and total analog to digital conversion is interrupted, serial ports interrupts, subtending port interrupts and timer interrupts totally four kinds of interruptions.Wherein analog to digital conversion is interrupted from the modulus analog-digital chip, DSP selects to carry out (1) secondary channel modeling according to the work at present state, (2) upgrade wave filter and to produce control signal be adaptive control, (3) do not upgrade wave filter and to produce control signal be fixed filters parameter control, do nothing (4).Serial ports interrupts from serial port communication chip, and must be that serial ports transmits operational order this moment, and DSP selects to carry out and/or transmit this operational order according to the command object parameter in the operational order.Subtending port interrupts from the uplink and downlink interface, if from upstream Interface, must be to transmit operational order from last unit, and DSP selects to carry out and/or transmit this operational order according to the command object parameter in the operational order; If from downstream interface, must be to transmit status information from Unit one, back, whether select this status information is forwarded to serial ports or upstream Interface by first unit according to this unit for DSP.Timer interrupts from the timer that defines among the DSP, and purpose is the status information that regularly reports this unit.
Preceding detailed description only provides preferred embodiment, and scope of the present invention, usability or structure are not produced any restriction.The front detailed description of the preferred embodiment is just in order to enable those skilled in the art to realize the preferred embodiments of the present invention.Should be appreciated that under the prerequisite that does not depart from aim of the present invention that claims limit and scope, can on the function of each ingredient of the present invention and layout, carry out various changes.
Claims (9)
1. but the active control module of the feedforward of a cascade (1) is characterized in that:
This unit comprises reference signal condition module (3), error signal condition module (4), digital signal processing module (5), filtration module (6), control signal driver module (7), cascade communication module (8), serial communication module (9);
From the process of the reference signal beyond this unit reference signal condition module (3) supplied with digital signal processing module (5), from the process of the error signal beyond this unit error signal condition module (4) supplied with digital signal processing module (5), the digital signal processing module of this unit (5) is by calculating control signal, and control signal passes through filtration module (6) successively and control signal driver module (7) is imported this unit Controlling Source in addition;
The cascade communication module (8) of this unit is used to connect other unit, makes a plurality of these unit serializable cascaded series become distributed feedforward active guidance system (2);
The serial communication module (9) of this unit is used to connect computing machine.
2. but the active control module of the feedforward of cascade as claimed in claim 1 is characterized in that:
The cascade communication module (8) of each unit has two interfaces, i.e. upstream Interface (10) and downstream interface (11);
This unit can independently use as single channel feedforward active guidance system, at this moment, does not use this two interfaces;
When distributed feedforward active guidance system (2) is formed in a plurality of unit, each unit connects successively by two interfaces of the cascade communication module (8) of self, be the upstream Interface (10) of Unit one, downstream interface (11) connection back of last unit, serially concatenated is formed distributed feedforward active guidance system.
3. but the active control module of the feedforward of cascade as claimed in claim 1 is characterized in that:
When this unit independently uses as single channel feedforward active guidance system, the serial communication module (9) of this unit links to each other with computing machine, computing machine by serial ports of computers, this unit this passage of serial ports communication module to this unit transmit operation order with receive the status information of this unit;
When distributed feedforward active guidance system (2) is formed in a plurality of unit, each unit serially concatenated, first unit is connected with computing machine by serial communication module (9), and this passage of cascade communication module (8) of the serial communication module (9) of computing machine by serial ports of computers, first unit, each unit is to arbitrarily or all unit transmit operation orders and reception is any or the status information of all unit.
4. but the active control module of the feedforward of cascade as claimed in claim 1, it is characterized in that: filtration module (6) is reconstruct filtration module or low-pass filtering module.
5. but the active control module of the feedforward of cascade as claimed in claim 1 is characterized in that: digital signal processing module (5) employing feedforward single channel adaptive control algorithm.
6. distributed feedforward active guidance system is characterized in that:
But this system is connected with downstream interface (11) successively by the upstream Interface (10) of the active control module of the feedforward of cascade as claimed in claim 1 (1) by the cascade communication module (8) of each unit, be the upstream Interface (10) of Unit one, downstream interface (11) connection back of last unit, serially concatenated is formed;
If distributed feedforward active guidance system is formed in total N unit, then the downstream interface of first unit (11) connects the upstream Interface (10) of second unit, the downstream interface of second unit (11) connects the upstream Interface (10) of the 3rd unit, the rest may be inferred, at last, the downstream interface of N-1 unit (11) connects the upstream Interface (10) of N unit.
7. distributed feedforward active guidance system as claimed in claim 6, it is characterized in that: but the digital signal processing module (5) of the active control module of feedforward (1) of each cascade of forming this system is as employing feedforward single channel adaptive control algorithm as described in the claim 5, the digital signal processing module (5) that is each unit is only relevant with reference signal, the error signal of this unit by calculating control signal, with haveing nothing to do of other unit.
8. distributed feedforward active guidance system as claimed in claim 6 is characterized in that: but the active control module number of feedforward of forming the cascade of this system can increase and decrease arbitrarily as required.
9. distributed feedforward active guidance system as claimed in claim 6, it is characterized in that: but the active control module of feedforward (1) serially concatenated of each cascade of this system formed, first unit is connected with computing machine by serial communication module (9), and this passage of cascade communication module (8) of the serial communication module (9) of computing machine by serial ports of computers, first unit, each unit is to arbitrarily or all unit transmit operation orders and reception is any or the status information of all unit.
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| CN105321524A (en) * | 2015-09-29 | 2016-02-10 | 深圳东方酷音信息技术有限公司 | Digital feed-forward adaptive hybrid active noise control method and device |
| CN105741828A (en) * | 2016-01-29 | 2016-07-06 | 南京大学 | Separable active noise control system |
| CN106251855A (en) * | 2016-07-22 | 2016-12-21 | 南京大学 | A kind of de-centralized virtual sound screen for transformator noise reduction |
| CN107195294A (en) * | 2017-04-07 | 2017-09-22 | 吉利汽车研究院（宁波）有限公司 | A kind of active denoising method and device for vehicle |
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