CN-121999750-A - Amphibious vehicle propeller noise control system and method based on PID (proportion integration differentiation) adjustment

CN121999750ACN 121999750 ACN121999750 ACN 121999750ACN-121999750-A

Abstract

The application discloses an amphibious vehicle propeller noise control system and method based on PID regulation, which belongs to the technical field of automobile control, and monitors the external environment by combining a PID regulation algorithm with an active noise reduction algorithm, and adjusting dynamic variable parameters, converting the dynamic variable parameters into propeller control parameters and active noise reduction module control parameters to control an impeller adjusting mechanism and microphone noise reduction parameters, and finally transmitting a noise reduction signal processed by an algorithm to emit reverse sound waves through a loudspeaker for reducing noise in a vehicle.

Inventors

DAI LIHONG
ZHANG JUN
MU BIAO
JIN JITAO

Assignees

奇瑞汽车股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260108

Claims (10)

1. An amphibious vehicle propeller noise control system based on PID regulation, characterized by comprising: the land/underwater mode judging module is used for judging whether the current working mode is a land mode or an underwater mode; the control system is used for carrying out corresponding control strategy adjustment according to the current working mode and comprises a self-adaptive PID controller which can self-adaptively adjust PID parameters according to the current working mode; the execution system is used for executing corresponding actions according to the instructions of the control system; And the feedback system is used for monitoring the working state of the execution system in real time and feeding back the monitoring result to the control system so as to realize closed-loop control.
2. An amphibious vehicle propulsion noise control system based on PID regulation according to claim 1, characterised in that the adaptive PID controller comprises: The PID operation and filtering module is used for performing PID operation and filtering the signals; and the ANC active noise reduction module is used for reducing noise interference in an underwater environment through an active noise reduction technology in an underwater mode.
3. An amphibious vehicle propeller noise control system based on PID regulation according to claim 2, wherein the PID regulation algorithm of the PID calculation and filtering module is as follows: ; Wherein, the In order for the controller to output, As an error signal, the signal is a signal, In order to achieve a proportional gain, In order to integrate the gain, The PID parameters are set differently for differential gain, land mode and underwater mode.
4. An amphibious vehicle propeller noise control system based on PID regulation as claimed in claim 2, wherein the PID calculation and filtering module employs a low pass filter, the transfer function of the filter being: ; Wherein, the Is the cut-off frequency.
5. An amphibious vehicle propeller noise control system based on PID regulation according to claim 2, wherein the active noise reduction algorithm of the ANC active noise reduction module is specifically as follows: ; Wherein, the In order for the output of the filter to be present, In order to input a signal to the device, In order for the coefficients of the filter to be present, Is the filter order.
6. An amphibious vehicle propeller noise control system based on PID regulation as claimed in claim 5 wherein the filter coefficients are adaptively adjusted using LMS algorithm as follows: ; Wherein, the As a step-size factor, Is an error signal.
7. An amphibious vehicle propulsion noise control system based on PID regulation according to claim 1, wherein the execution system comprises: The navigation propeller comprises a propeller blade wheel mechanism, and is used for driving the navigation propeller and a vehicle to travel through the rotation of the propeller blade wheel mechanism in an underwater mode, so that the underwater navigation of the equipment is realized; the propeller controller is used for controlling the working state of the navigation propeller; and the noise reduction loudspeaker is used for receiving the noise reduction signal and transmitting reverse sound waves to reduce the working noise of the navigation propeller in the underwater mode.
8. An amphibious vehicle propulsion noise control system based on PID regulation according to claim 7, wherein the feedback system comprises: The rotating speed sensor is used for monitoring the rotating speed of the navigation propeller so as to judge the moving speed of the vehicle; and the underwater microphone is used for monitoring noise in the underwater environment in an underwater mode so as to evaluate the noise reduction effect.
9. A noise control method suitable for use in a PID regulated amphibious vehicle propulsion noise control system as claimed in any one of claims 1 to 8 comprising the steps of: Judging whether the current working mode is a land mode or an underwater mode by a land/underwater mode judging module; according to the current working mode, the adaptive PID controller adjusts PID parameters according to the characteristics of the land environment in the land mode, adjusts PID parameters according to the characteristics of the underwater environment in the underwater mode, and reduces noise interference in the underwater environment through the ANC active noise reduction module; According to the instruction of the control system, the execution system executes corresponding actions, including controlling the working state of the navigation propeller by the propeller controller in a land mode to realize the movement of the vehicle; the feedback system monitors the working state of the execution system in real time and feeds the monitoring result back to the control system.
10. The noise control method according to claim 9, wherein the feedback system monitors the operation state of the execution system in real time and feeds back the monitoring result to the control system, comprising: In the land mode, the rotational speed sensor monitors the rotational speed of the propeller to determine the moving speed of the vehicle, and in the underwater mode, the underwater microphone monitors noise in the underwater environment to evaluate the noise reduction effect.

Description

Amphibious vehicle propeller noise control system and method based on PID (proportion integration differentiation) adjustment Technical Field The application belongs to the technical field of automobile control, and particularly relates to an amphibious vehicle propeller noise control system and method based on PID (proportion integration differentiation) adjustment. Background The amphibious automobile is used as a novel transportation tool, has double application scenes of running on land and water, and has wide application scenes and application prospects in civil and military fields. At present, amphibious vehicles mainly depend on wheel driving when running on land, and vehicles run on water and depend on underwater propellers. In recent years, with the advancement of automobile technology and the wider and wider application of consumers to vehicles, the market pushes out more amphibious automobiles aiming at the consumption field. In such a vehicle model, consumers have higher requirements on NVH performance (noise, vibration and harshness) of the conventional road surface driving working condition, and the NVH performance of the water surface driving working condition is also more concerned. Automobile NVH performance is one of the key performance indicators in the main performances of automobile products, so that automobiles are required to be uniform for NVH performance under various complex scene applications, and customer complaints cannot be caused. Therefore, development and verification are also required in the design link aiming at the NVH performance of the amphibious automobile running on water, the performance of the automobile is improved to meet the requirements of consumers, and the product competitiveness is improved. For the amphibious vehicle, the propeller is used as a key power device for running on the water surface, is also a fundamental source for generating noise and vibration, greatly influences user experience, and the control emphasis of the existing amphibious vehicle on the propeller noise still depends on the traditional passive noise reduction measures, such as the application of sound absorbing and insulating materials, and has limited effects on the working sound and the fluid noise of the propeller. In addition, the operation working condition of the underwater propeller is complex, the underwater environment is complex and changeable, the load is dynamically changed when the underwater propeller works in consideration of the change of the water flow rate, the direction, the density and the depth, the underwater propeller needs to dynamically respond and adjust according to the external environment and the running requirement when the underwater propeller works, the fluctuation of the working noise of the propeller is caused by the change of the load, and the uncomfortable feeling of passengers in a vehicle is caused after the fluctuation of the working noise of the propeller exceeds a certain threshold value. Therefore, the existing amphibious automobile underwater propulsion system does not optimize a control strategy aiming at NVH performance perceived by consumers, and particularly aims at an external environment with complex and changeable sailing working conditions. Noise abnormal fluctuation is caused by load change of the propeller under the driving working condition, and noise fluctuation in the vehicle is caused. Defects and deficiencies of the prior art: Aiming at the control of the current underwater propeller, single variable or empirical data is adopted for adjustment, the control strategy is simpler, and no direct control means and method are provided for the navigation working noise of the propeller. The propeller noise is usually influenced by load input and external noise change, and is difficult to adjust for complex dynamic change, so that the propeller often operates at high power to cause speed overshoot and cavitation noise. After the propeller runs for a long time, the impeller and the blades are attached by organisms, so that load change is caused, and system parameter deviation is caused to change the running condition of the control system. When the propeller runs under complex underwater working conditions, the possibility of load change of the propeller caused by water depth change and surge interference exists. By combining the noise generation principle of the underwater propeller and the existing control method, the noise transmitted to the inside of the automobile by the propeller is often direct, so that the NVH performance of the amphibious automobile under the sailing working condition can be influenced, and further the customer experience is influenced. Accordingly, there is a need for a new amphibious vehicle propeller noise control system and method based on PID regulation that addresses the above-identified problems. Disclosure of Invention It is an object of the present disclosure to provide an amphibious vehicle propeller nois