Method of and apparatus for reducing vibrations of car body

Abstract: A method of reducing vibrations of a car body (13) comprises a step of detection of rough which is irregular combustion in an engine (11), preferably through monitoring of angular velocity of a crankshaft of the engine (11,) and a step of exerting such external force as will cancel roll vibrations (A1) of the engine (11) caused by the rough on an engine block of the engine (11) temporarily after the occurrence of the rough. A magnitude of the force and timing of exerting the force is preferably determined on the basis of a degree of the rough and the angular velocity immediately before the occurrence of the rough.

Description: This invention relates to a method and an apparatus for reducing vibrations of a car body of an automobile, provided with an internal combustion engine according to the preamble portions of the independent claims 1 and 17. In the field of automobile engine, various kinds of techniques concerning the reduction of vibrations of a car body caused by fluctuation of engine torque have heretofore been proposed. For example, JP-B-62-31172 (1987) proposes a conventional technique for suppressing vibrations caused by periodical fluctuation of torque which occurs in a crankshaft synchronously with an expansion stroke of the engine. According to the technique, periodical increase of torque in the expansion stroke of an engine is detected, and a field current is applied to a field coil of an alternator at this torque-increasing time to increase the torque of the alternator which the engine bears as load. The increase in torque of the alternator suppresses the periodical increase of torque of the engine thereby to reduce not only vibrations of the engine but also vibrations of the car body. Vibrations of a car body include irregular vibrations caused by roughness which is irregular combustion occurring during idling of an engine, in addition to such vibrations ascribed to periodical fluctuation of torque due to the expansion stroke of the engine. The rough idling, which is roughness occurring during idling, is apt to occur, for example, when such a sudden change in engine load, such as high-speed traveling is changed to idling, takes place to make the combustion unstable, and when the increase in combustion pressure is not sufficient. Due to such roughness, the number of revolutions (r.p.m.) of the engine suddenly varies to lower. Consequently, the engine vibrates as if it is excited in the rolling direction. In the case where an engine is placed longitudinally of the car body as in FR (front engine rear drive) cars, vibration of the engine is transmitted to the chassis through the mounts to cause the car body to abnormally vibrate. The mechanism of occurrence of vibrations of a car body ascribed to roughness is different from that of the above-mentioned periodical vibration ascribed to the explosion in the engine, and the former vibration occurs irregularly. Therefore, they cannot be eliminated by the above conventional techniques concerning apparatus for suppressing the fluctuation of torque of an engine. The frequency of vibration of a car body ascribed to rough idling is as low as 5-8 Hz. Therefore, in order to reduce such vibration by a mechanical system such as a dynamic damper, the damper is necessary to have a very large size, and reduction of the vibrations thereby is not practical. According to JP-A-63 167 640 it is shown to reduce vibrations of an engine by increasing the generator load depending on the rotational speed of the engine by supplying the electric current from a generator to a resistor which consumes the electric current as heat. DE-A-3 230 607 shows to lower the variations of the engine speed during a normal status of the engine by applying an exciting current to a closed loop control with an alternator. The above mentioned documents, however, do not show to temporarily exert an external force to the engine block so that the reduction of engine vibrations is not optimal. Object of the present invention is to provide a method and an apparatus for reducing vibrations of a car body in an automobile, so that vibrations of the car body caused by irregular combustion in the engine during idling can be reduced effectively. The object is solved according to the features of the independent claims 1 and 17. The dependent claims show further embodiments and advantageous features of the invention. An aspect of the present invention is characterized by detection of roughness of an engine, and exerting a force to cancel the roll vibrations of the engine caused by the roughness on an engine block of the engine temporarily after the occurrence of the roughness. An example of appropriate means for exerting roll vibration cancelling force on the engine block is an alternator which is secured to the engine. When the alternator is controlled so as to provide a rapid increase in the output torque thereof at an appropriate time after the occurrence of the rough, the force of reaction of the rapid increase in torque is transmitted to the engine block thereby to cancel the roll vibrations of the engine. It is preferable that the rapid increase in torque of the alternator is effected so that the center of the increased torque appears at the time of the highest velocity of the roll vibrations in the first cycle thereof. According to another aspect of the present invention, a method of reducing vibrations of a car body is characterized by the steps of: detecting engine speed such as crank shaft angular velocity; detecting occurrence of roughness through monitoring the detected engine speed; setting the output power of an electric machine such as torque of an electric machine driven by the engine as controlled variables each of which is determined on the basis of a degree of roughness and the engine speed so as to be suitable for reducing vibrations of the engine caused by the roughness; determining an optimum controlled variable to reduce the vibrations due to the roughness among the set controlled variables in accordance with a degree of the occurred roughness and the engine speed detected immediately before the occurrence of the roughness; and controlling the electric machine to increase temporarily an output thereof so as to reach the optimum controlled variable. By this method, the vibration of the engine due to roughness is reduced, which results in reduction of vibrations of the car body. According to another aspect of the present invention, a method of reducing vibrations of a car body is characterized by the steps of: detecting angular velocity of an engine; detecting occurrence of roughness through monitoring of the detected angular velocity of the engine; setting an increase in output of an electric machine driven by the engine and timing of the increase of output as controlled variables each of which is determined on the basis of a degree of rough and the angular velocity; determining optimum controlled variables concerning an increase in output of the machine and timing of the output increase among the set controlled variables in accordance with the detected degree of roughness and the angular velocity detected immediately before the occurrence of the roughness; and controlling the electric machine to increase temporarily the output of the electric machine with the optimum timing so as to reach the optimum controlled variable of output, whereby vibrations of the engine and the car body, caused by the rough are reduced. The degree of roughness corresponds to a decrease in the angular velocity of a crank shaft of the engine, and the degree of vibrations of the engine and the car body caused by the roughness depends on the degree of the roughness and the angular velocity immediately before occurrence of the roughness. Therefore, according to this aspect the effective control of reduction of the vibrations of the engine due to the rough is effected. In the following examples of the invention are described referring to accompanying drawings. Fig. 1 is a schematic view of an automobile mounting thereon an engine and an alternator; Figs. 2a and 2b each are a diagram showing relationship between gas torque generated in the engine and rotational angle of crank shaft; Fig. 3 is a diagram showing a relationship between torque giving vibration on the engine and crank shaft rotational angle; Figs. 4a and 4b each are a diagram showing relationship between rotational angle and combustion pressure in a cylinder, gas torque generated in the engine; Fig. 5 is a diagram showing an example of a control circuit for reducing vibration caused by rough according to the present invention; Fig. 6 is a graph showing the relation between the quantity of decrease of the revolution number of an engine due to the occurrence of roughness and degree of vibrations of a floor; Fig. 7 is a waveform diagram showing the load torque controlling principle in the method of reducing the vibration of a car body according to the present invention; Fig. 8 is a block diagram of a control system used in an embodiment of the present invention; Fig. 9 is a time chart showing the operational condition of an embodiment of the present invention; Figs. 10a and 10b each are a flow chart showing the operational condition of the embodiment; Fig. 11 illustrates the waveforms of generated currents in various cases where different load torque control pulse widths are used; Figs. 12a and 12b each illustrate data maps in the storage means used in the embodiment; Figs. 13a and 13b comparatively illustrate the engine and floor vibrations with a load torque control operation carried out and not carried out; and Fig. 14 illustrates another embodiment of a rough detecting method according to the present invention. An example of mounting structure of an internal combustion engine on an automobile is shown in Fig. 1. In Fig. 1, the engine 11 is mounted on mounts 12 which are mounted on a chassis 13 or floor. An alternator 10 is mounted on the engine 11 through a bracket 15 and connected to the engine 11 by a belt 14 so that the alternator 10 is driven by the engine 11 to output power which is a load on the engine 11. The engine 11 has a crank shaft (not shown) aligned with a longitudinal direction of the engine 11. In this type of automobile having the above-mentioned arrangement of the engine 11, rolling of the engine is apt to occur, which causes rolling of a car body. When roughness which is irregular combustion in the engine takes place, torque giving vibrations occurs in the engine 1. The torque causes rolling or rolling vibration in the engine 11 as shown by an arrow A 1 . The rolling of the engine 11 causes rolling or rolling vibration in the car body, as shown an arrow A 2 . In general, the inherent frequency of rolling vibrations of the automobile is around 5 to 10 Hz. Frequency of vibrations caused by rough occurring at a time of a low speed operation such as during idling of the engine is just within the above-mentioned frequency range, that is, 5 to 8Hz, so that when the roughness takes place during the idling, the engine 11 and the car body are moved largely, that is, rolling vibration of the car body takes place, whereby person in the automobile feel unpleasant. Therefore it is necessary to suppress vibrations due to rough, in particular, idling roughness (roughness during idling). According to the invention, the roll vibrations caused by roughness can be reduced by detecting the roughness and adding external force to cancel the roll vibrations to an engine block of the engine temporarily after occurrence of the roughness. The external force can get from rotary machines, for instance, as the force of reaction of a rapid increase in torque of the rotary machine. As rotary machine an alternator, various kinds of motors, etc., mounted on the engine block may be included. In case the above-mentioned alternator 10 of an example of the rotary machine is used to reduce the roll vibrations of the engine, the alternator is controlled so as to increase field current or voltage thereby to increase torque thereof temporarily at an appropriate time. The force of reaction of the rapid increase in torque is transmitted to the engine 11 through a housing of the alternator 10 and the bracket 15, whereby the roll vibrations are reduced. An example of apparatus for reducing vibrations of a car body comprises the alternator 10 mounted on the engine 11, a crank angle sensor 6 for detecting angular velocity of the crank shaft of the engine 11, and a control part 110 for detecting roughness using change in engine speed such as crank shaft angular velocity and controlling the alternator 10 so as to provide a suitable torque increase at an appropriate time after the detection of the occurrence of roughness. The generator 10 is secured to the engine 11 by the bracket 15, and driven by the engine 11 through the belt 14. The quantity of torque of the generator 10 changes according to the quantity of power generation, that is to say, the quantity of torque increases as an amount of power generation increases, on the contrary, the quantity of torque decreases as an amount of the generation of power decreases. Therefore, the torque is controlable by a control of the alternator 10. Further, the alternator 10 is secured to the engine 11, so that the force of reaction of the torque is transmitted to the engine 11 through the bracket 14. Consequently, a control of torque of the alternator 10 makes reduction in roll vibrations of the engine 11 due to rough. The crank angle sensor 6 detects engine speed such as angular velocity of a crank shaft and the top dead center (TDC) of each cylinder and outputs angular velocity signals and the TDC signal. These signals are sent to the control part 110. Irregular combustion (roughness) and torque which is caused by the roughness and gives vibrations to the engine are explained hereunder referring to Figs. 2a to 4b. Referring to Fig. 4a showing combustion pressure in one of cylinders of a four cycle engine at each rotational angle of the crank shaft, and gas torque around the crank shaft generated by the combustion pressure. One combustion cycle of the four cycle engine, that is, four strokes, compression, expansion, exhaust and intake strokes correspond to 720° of rotational angle of the crank shaft. In this engine, the combustion takes place four times during the rotation of the crank shaft of 720°. Gas torque generated in one combustion cycle of the engine is shown as in Fig. 2a by repeating a torque similar to Fig. 4a four times at angular intervals of 180°=720°/4. In general, ignition for each cylinder is effected earlier than the TDC. When the irregular combustion takes place, combustion pressure in the cylinder and the gas torque generated thereby are as shown in Fig. 4b. As is apparatus from Figs. 4a, 4b, the combustion pressure, in the cylinder in which irregular combustion takes place, at TDC is a small value as compared with that in normal combustion. Further, Figs. 2a, 2b and Fig. 4a show that a plus portion of the gas torque start to rise at a position of or close to TDC. Therefore, torque which exerts vibrations on the engine 11 in the rotational direction as reaction of a rapid decrease in torque when irregular combustion takes place start to increase around TDC. This shows that roughness can be detected by detection of combustion pressure and generation timing of vibration exerting torque by the combustion pressure also can be detected by detection of TDC. It is found that change or fluctuation in combustion pressure appears in angular velocity of the crank shaft, so that roughness is detected through monitoring the change in the angular velocity, which is described later. The timing of the occurrence of the roughness is also known by signals or data from the crank angle sensor 6. In Fig. 5 showing an example of a control circuit for controlling torque of the alternator 10, the alternator 10 comprises a field coil 101 rotated by the engine 11 through the belt 14, a stationary armature coil 102, and a three phase rectifier 103 comprising diodes. The rectifier 103 is connected to an electric load 120 including an electric resistor 121 consuming generated power, a battery 122 storing generated power, etc. The control part 110 comprises an electric current adjusting device 112 for controlling the quantity of electric current supplied to the field coil 101 from the battery 122, a voltage adjusting device 113 provided between the alternator 10 and the electric load 120 and a control unit 1 receiving signals from the crank angle sensor 6, detecting occurrence of roughness, a degree of the roughness and timing of the roughness occurrence, and generating signals for controlling the electric current adjusting device 112 based on the detected data, which will be described later in more detail. Power generated by the alternator 10 increases or decreases according to the strength of the rotating magnetic field, that is, increase or decrease in current flowing in the field coil 101. As mentioned above, torque of the alternator 10 changes according to an amount of generated power, so that in order to make large torque, a value of field current is increased by adjusting the current adjusting device 112, on the contrary the torque of the alternator 10 can be made small by flowing small current in the field coil 101. The voltage adjusting device 113 is for keeping the voltage applied on the electric load 120 constant. Assuming that field current flowing in the field coil 101 is increased to make large torque of the alternator 10, rotating magnetic field generated by the field coil 101 is made stronger, whereby voltage occurring in the armature coil 102 and voltage at the output terminals of the rectifier 103 which is applied on the electric load increases. In this manner, the voltage adjusting device 113 has the function that change in the voltage applied on the electric load 120 is prevented. However, the voltage adjusting device 113 is unnecessary to be provided if the electric load 120 is such that the electric load is not brought into problem by fluctuation in the applied voltage. The idling roughness of the engine 11 is detected on the basis of fluctuation in engine speed such as angular velocity of the crank shaft of the engine 11 during idling. When an idling roughness is detected actually, output of an electric machine such as the alternator 10 is increased. If the timing of the increase in the torque of the alternator is so set that the phase of the alternator is opposite to the phase of the vibration of the engine due to rough idling and further of the car body, the vibration of the engine due to idling rough is cancelled before they are transmitted to the chassis, so that the vibration of the car body due to roughness can be reduced. In order to control the increase of the torque of an alternator for the purpose of reducing the vibration of the engine due to idling roughness, the timing of increase of the torque of the alternator for reducing the engine vibration ascribed to rough idling is preferably near the first half of the cycle of natural frequency of the engine roll vibration ascribed to rough idling. The technique for reducing the vibrations of a car body ascribed to rough by controlling the torque of an alternator as mentioned above can be practiced, however it is preferable for the technique to improve the following points. According to the technique, the torque, that is, controlled variable of an alternator at the time of occurrence of roughness is set to the same level irrespective of the degree of the roughness. Therefore, even when a small degree of roughness occurs, the torque is controlled to a predetermined invariable value. As a result, in some cases, the vibration of the engine ascribed to an increase in torque of the alternator become greater than that of the engine ascribed to the roughness, the reduction of vibration is not effected but the vibration of the engine contrarily increase, making it impossible to suppress the vibration of a car body effectively. It is ascertained by experiments that when an engine has different engine speed (angular velocity of the crank shaft) immediately before the occurrence of roughness, the degree of vibrations of the car body is different even if the engine speed is decreased by a same level due to the rough occurring during the idling of the engines, which is shown in experimental data in Fig. 6, and the details thereof will be described later. It is further found that when the torque of an alternator is controlled for the purpose of reducing the vibration of a car body by changing the pulse width of a voltage applied to the field coil 101 in the alternator 10, the optimum timing of the application of this voltage during this control operation varies in accordance with the pulse width. Therefore, it is preferable that controlled variable of electric apparatus such as an alternator is determined depending on a degree of roughness and the engine speed immediately before occurrence of the rough. Further, in case the alternator is employed for suppressing vibrations of the car body caused by roughness, timing of the torque increase of the alternator is preferably determined according to the degree of roughness and the engine speed. The above-mentioned will be described in more detail, referring to Fig. 7. The relation between vibration waveform peculiar to an engine, vibration velocity V of the engine when a degree of roughness is changed to large roughness, intermediate or middle roughness and small roughness, and controlled variable which is denoted herein by the formula, (load controlling force) F x (control pulse width t as an example) will be described with reference to Fig. 7, and the relation between a decrease in the engine speed and amplitude of vibrations of a car body (floor), which are ascribed to rough, will be described with reference to Fig. 7 for the purpose of easy understanding. In Fig. 7, the amplitude of the vibration of an engine, i.e. the vibration velocity v increases as the degree of rough becomes larger. The vibration pattern is such that when an engine vibrates in the crosswise (right and left) directions, for example, rightward vibration speed occurring initially becomes zero at the right end (1/4 cycle) (Herein rightward or leftward vibration means rightward or leftward movement in the roll vibration.). The vibratory movement then turns back leftward and pass the central position in a range of 1/4-3/4 cycle, and reaches the left end. Leftward vibration speed is in the range of this 1/4-3/4 cycles and the highest vibration speed in this range is in the position of 1/2 cycle. If vibrations corresponding to the decrease in engine speed (which is cancelled practically by the vibrations due to rough and not revealed), the phase of which is opposite to that of the actual vibrations, based on a torque controlled-variable, is generated in the turning cycle range of 1/4-3/4, the vibrations of the engine due to rough can be suppressed. This relation is expressed by the formula, mv - Ft ∝ S wherein m is the mass of the engine; v a vibration velocity of the engine; F controlling force which is force such as torque; t control pulse width; and S degree of vibration after the completion of a torque control operation. The product mv represents the momentum of vibration ascribed to rough, and Ft a torque controlled-variable (momentum of cancellation). Therefore, if F or t both which are factors of the torque controlled variable is changed, S can be changed. Accordingly, if at least one of F and t is changed correspondingly to the degree of the vibration of the engine caused by roughness in other words, vibration speed v , the suppression of the vibration of the engine becomes effective. When an alternator is taken as an example, F corresponds to the level of voltage or current, and t the width of the control pulse therefor. The experimental data in Fig. 6 show the characteristic of a decrease in member of revolution vs amplitude of floor or a car body vibration in case that the number of revolutions of an engine during idling immediately before the occurrence of roughness are 650 rpm, 750 rpm and 850 rpm. As shown from Fig. 6, the amplitude of floor vibration differs depending upon the number of revolutions of the engine even when the quantities of decrease in the number of revolutions of the engine caused by rough are on the same level. Namely, it is found that the quantity of floor vibration caused by roughness is influenced by the number of revolutions of an idling engine immediately before the occurrence of the roughness, in addition to the degree of the roughness. To be concrete, the smaller the number of revolutions of engine is, the larger the amplitude of floor vibration becomes. In view of the above fact, the controlled variable of an electric machine for suppression of the vibration of a car body ascribed to the occurrence of roughness is set so that this controlled variable is variable and changes depending on the relation between the degree of roughness and the number of revolutions of engine immediately before the occurrence of the roughness. The roughness occurring irregularly during idling of the engine under the state of fluctuation of the engine is monitored, and the number of revolutions of the engine is detected. When roughness is then detected, an optimum torque controlled-variable suitable for a detected value of the roughness and the number of revolutions of the engine immediately before the occurrence of roughness is selected among the set variable controlled-variables. A method of determining the optimum torque controlled-variable is as follows: for example, a microcomputer is used, the controlled variables are stored in a data map with respect to the relation between the degree of roughness and the number of revolutions of the engine in a storage means, or stored in the form of calculation formula in which these detected values can be incorporated as variables. When a roughness is detected, a torque controlled variable corresponding to the detected value of the roughness and the number of revolutions of the engine are determined by using a computing means and searched from the data map or computed in accordance with the calculation formula thereby to output control signals for the electric machine. If, for example, the pulse width and voltage applied to an electric machine are varied depending on a controlled-variable thus determined, so as to temporarily increase the torque of the electric machine is makes load on the engine, the effective reduction of the vibration of a car body according to the state, i.e. the degree of the actual roughness and the number of revolutions of the engine can be attained. A control of the electric machine to make excessively large and small torque as controlled-variable is eliminated. It is preferable as mentioned above that the torque controlled-variable is generated in the range of 1/4-3/4 cycles of the rolling vibration inherent to an engine or around 1/2 cycle thereof from TDC at which the roughness occurs. An operation concerning timing of control for reducing the vibration of a car body will now be described. As shown also in Fig. 7, a case control pulse width t is taken for controlling the electric machine and set variable is described as an example of a method of suppressing the vibrations of an engine, i.e. a car body. In order to vary the control pulse width, it is necessary that the timing at which the pulse is applied is varied in the case where the center of the pulse width is at the position of the 1/2 cycle of vibration inherent to the engine from TDC. In this case, the timing at which an electric signal concerning a torque controlled-variable for the electric machine is also varied when the same torque controlled-variable is variably controlled on the basis of the above facts and correspondingly to the degree of the rough and the number of revolutions (r.p.m.) of the engine. Since the timing at which a signal concerning the torque controlled-variable is applied is varied, the center of the load torque controlled-variable can be positioned in alignment with the position of 1/2 cycle of the intrinsic value (natural frequency cycle) of roll vibration of the engine, which is shown in Fig. 9, and confined to the range of 1/4-3/4 cycle suitable for the suppression of vibrations, even when torque controlled-variable (for example, control pulse width) varies. This enables the effective reduction of vibrations of an engine, i.e. the vibrations of a car body to be attained. An embodiment of the present invention will now be described with reference to the drawings. First, an outline of an engine control system of the present invention will be described with reference to Fig. 8. Referring to Fig. 8, the control system comprises a control unit 1 having a microcomputer as a main element and consisting of an input/output circuit (I/O port) 2, a microprocessor unit (arithmetic unit) 3, a read-only memory (ROM) 4 and a random access memory (RAM) 5. Signals required for controlling an engine 11 are inputted from various kinds of sensors, such as an air flow sensor, an oxygen sensor, and a crank angle sensor, and a switch, such as an idling switch into the control unit 1 which is same as one shown in Fig. 5. An injector driven by a fuel injection signal, an ignition coil from which an ignition signal is outputted, idling speed control (ISC) valve driven by an idling control signal and a booster circuit 9 (from which a voltage is to be applied to a field coil of an alternator 10) or current adjusting device 115 as in Fig. 5 for reducing the vibrations of a car body in accordance with the present invention, are connected to the output side of the control unit 1. In this embodiment, the crank angle sensor 6, a revolution number (engine speed) take-in timing generation device 7 and cycle measuring device 8 are used as engine speed detecting means which is per se known, and an idling roughness detecting means used consists of the timing generation device 7, the cycle measuring device 8 and the arithmetic unit 3. The crank angle sensor 6 outputs a revolution signal synchronously with the crankshaft of the engine 11. It outputs pulses the number of which is proportional to the rotational speed of the engine, and outputs a reference pulse at every crank angle of 720°/n, wherein n is the number of cylinders in the engine. In this embodiment, the number of cylinders is four, and a reference signal is outputted at every crank angle of 180°. This crank angle signal is taken into the input/output circuit 2, and a crank angle region pulse for determining the number of revolutions of the engine 11 is generated in the revolution number take-in timing generator 7. The width of this pulse is measured with the cycle measuring device 8, and the number of revolutions of the engine 11 or crank shaft angular velocity is determined on the basis of an inverse number thereof. The data concerning this number of revolutions of the engine are processed in the arithmetic unit 3, and the occurrence and degree of idling rough are determined in the following manner. When idling roughness occurs, the torque controlled-variable (control pulse) of the alternator 10, which is used to suppress vibrations of the engine 11 ascribed to the rough, is computed on the basis of a detected value of the roughness and the number of revolutions of the engine immediately before the occurrence of the roughness, and the booster circuit 9 is driven and controlled by this control pulse. A high voltage is then applied to the field coil of the alternator 10 through the booster circuit 9. A series of operations mentioned above will now be described with reference to the time charts of Fig. 9 and the flow charts of Figs. 10a and 10b. A waveform a in Fig. 9 shows the state of the number of revolutions (r.p.m.) of an engine (crank shaft angular velocity) is used in this case in an idling operation. A number of revolutions Ne of an engine usually has a waveform with peaks between TDC's (top dead centers) at every 180°, which occur due to the influence of the explosion strokes of the cylinders. However, for example, when high-speed travel is changed into idling, causing an engine load to suddenly decrease, the combustion becomes unstable, and the combustion pressure does not sufficiently increase in some cases. This phenomenon is called roughness, in which a decrease in the number of revolutions of the engine occurs as shown by a 1 . When this phenomenon occurs, the engine is vibrated in the roll direction if no measures are taken. The vibration of the engine are transmitted to the chassis 13 to cause the car body to vibrate as stated previously. In this embodiment, the occurrence of rough is detected early, and engine vibrations due to the roughness is reduced before the vibration of the engine are transmitted to the chassis. The regions in which the number of revolutions of the engine is detected are set in the positions of peaks of the rotational speed fluctuations, which appear at every crank angle of 180° (720°/n), and the number of revolutions Ne 1 of the engine is read at every engine crank angle of 180°. In this embodiment, a difference Ne 1 between the number of revolutions Ne 0 of the engine read last time and an actual number of revolutions Ne 1 of the engine is determined, and this Ne 1 is judged whether it is in excess of a predetermined level to determine the occurrence of roughness. This judgement is made by the arithmetic unit 3. In Fig. 10a, steps S 1 to S 2 show a process of detection of roughness, that is, the detected number of revolution Ne 1 is read in the step S 1 and roughness is detected through calculation of the difference Ne 1 between the number of revolutions Ne 0 and Ne 1 in the step S 2 , the data on the number of revolutions of engine read at every 180° are renewed. When the quantity of decrease Ne 1 of the number of revolutions of the engine is below, for example, 10 rpm, a judgement that roughness has not occurred is given, and, when Ne 1 is not less than 10 rpm, a judgement that a roughness has occurred is given, by the arithmetic unit 3, in step 5. In step S 4 it is judged whether or not the processing unit is during control masking. The control masking means that a control operation increasing of the torque of the alternator for reducing the vibration of car body, which is based on a judgement already made in the preceding routine is carried out. In such a case, the masking is done until the influence of this car body vibration control operation becomes null, so as to prevent a repeated judgment of occurrence of roughness which causes the second decrease of the number of revolutions of the engine. In other words, a measure for preventing a double load torque control operation, which is an erroneous action, from being carried out is adopted. The control masking section extends, for example, from the occurrence of rough to a position of a crank angle of around 540° as shown in Fig. 9. When a judgment of occurrence of rough is made as shown in the step S 5 with a judgement that the control masking is not actually done in the step S 4 , a control masking time CMT corresponding to the control masking section is stored in a predetermined address in step S 6 . A value WT of controlling timing corresponding to the degree ΔNe 1 of the roughness and the number Ne 1 of revolutions of engine immediately before the occurrence of roughness is retrieved in step S 7 from a preset data map which is explained later in detail, and an optimum load torque controlled-variable which is width PW of a pulse of voltage applied to the field coil of the alternator corresponding to the degree ΔNe 1 of the roughness and the number Ne 1 f revolutions of the engine immediately before the occurrence of the roughness is retrieved from a preset data map, which is also explained later in detail, in step S 8 . The electric current in the field coil in the alternator is increased temporarily by the value corresponding to this alternator torque controlled-variable and with this current application timing. The torque controlled-variable PW mentioned above is synonymous with the control pulse width t 1 to t 3 shown in Fig. 7. The reasons why the controlled variable of the torque of the alternator and the timing at which a signal concerning this controlled variable is applied or thus set and stored in the data map are already described. To sum up the reasons, an optimum torque controlled-variable differs depending upon the degree of roughness and the number of revolutions of the engine recorded immediately before the occurrence of roughness, and, when the torque controlled-variable is substituted by the control pulse width, an optimum timing at which a signal is applied also differs depending upon the degree of roughness and the number of revolutions of the engine. The variable control pulse width PW of controlling the torque of the alternator and control timing WT, which is time between a judgment of occurrence of roughness and the generation of PW as shown in Fig. 9, for suppressing the vibrations of an engine, i.e. the vibrations of a car body is set variously on the basis of the relation between the degree of roughness and the number of revolutions of the engine as shown in Figs. 12a, 12b, and the data on this control pulse width is stored in the form of a map in the storage means, that is, ROM 4 in the control unit 1 in advance. In Figs. 12a and 12b, control pulse width (PW) and control timing time (WT) each are stored in map, and determined on the basis of the degree of roughness, that is, difference in engine speed ΔNe and the engine speed Ne immediately before the occurrence of the roughness. When roughness takes place and the degree of roughness ΔNe and the engine speed Ne are detected, the control pulse width (PW) and the control timing time (WT) are searched from the map, based on the detected ΔNe and Ne, to use them to control the electric machine. The control timing time (WT) and the control pulse width (PW) have the following relation for instance: WT + PW = constant. The waveform IL of current generated by the alternator 10 in the case where the control pulse width PW is varied 20 ms, 40 ms and 60 ms varies as shown in Fig. 11. Accordingly, the timing at which a signal of the control pulse width is applied also varies as already mentioned. It has been found from the result of a simulation as well that the central position of a control pulse is optimumly aligned with the position of an instant of 1/2 cycle of one cycle of natural frequency of rolling of the engine as shown in Fig. 9. The operation from the judgment of occurrence of rough to the determination of the controlled variable of the torque of an alternator and the timing at which a signal of this rate is applied are carried out in a revolution interruption routine executed at every crank angle of 180°. A counter equivalent to a soft timer is provided, from which an on-off pulse is outputted in a timer routine in which an interruption control operation is carried out in a certain predetermined time cycle on the basis of the controlled variable and current application timing thus determined. Fig. 10b shows this timer routine. In step S 11 , the control masking time is calculated when roughness occurs, and, in step S 12 the value WT of control timing which is searched from the map is counted. When the counting is made until WT becomes zero, that is, when a time WT lapsed, a control signal (pulse width signal) PW is outputted, and a voltage is applied to the field coil in the alternator 10 for a period of time corresponding to the pulse width PW. When the period of time corresponding to the pulse width PW elapses in step S 14 , the control signal stops in step 15. The lower part of Fig. 9 shows the modes of control pulses as pulse width control signals in the cases of large roughness middle roughness and small roughness. Fig. 13a shows the relation between the number of revolutions of engine, vibration of engine in its rolling direction and vibration of car body in its rolling direction in the case where the torque control operation is not carried out, and Fig. 13b the same relation in the case where this control operation is carried out. Namely, according to the method of reducing the vibration of a car body, a decrease of the number of revolutions of the engine is made artificially at the above-mentioned suitable timing when a decrease of the rotational speed of the engine due to the occurrence of rough occurs as shown in Fig. 13b, by increasing the torque of the alternator so as to absorb the vibration of the engine ascribed to the roughness before they are transmitted to the car body, whereby the vibrations of the car body can be reduced. The controlled variable of the torque of the alternator and the timing at which a signal concerning this variable is applied are controlled variably with respect to the degree of the roughness and the number of revolutions of the enigne. Therefore, if roughness occurs in any idling state, the suppressing of the vibrations of the engine and the reducing of the vibrations of the car body in accordance with the operational state can be done at all times. In this embodiment, an alternator is employed as a device the torque of which is to be controlled, but such a device is not limited thereto, i.e., the present invention can be practiced even when an electric machine other than an alternator is used and its output such as torque can be electrically controlled. Regarding the method of varying the torque controlled-variable, for example, a method of controlling the level of a generated current in the alternator may also be adopted in addition to the method of varying the control pulse width. To be concrete, a feedback control operation is carried out so that the level of a field current becomes constant, and the duty ratio of a switching regulator is varied. Regarding the method of detecting the degree of rough, the number of revolutions or crank shaft angular velocity of engine is detected at every crank angle of 180° (720°/n), i.e., in two positions as shown in Fig. 14, and the degree of roughness may be determined with reference to, for example, the level of a difference α = N TOP -N BOT between a bottom N BOT of the rotational speed and a peak N TOP thereof. In addition, determining a difference Δα(2) between a current value α(1) and the precedent value α(2) also enables the detection of roughness to be effectively carried out, wherein Δα(2)=α(2)-α(1), α(1)=N TOP (1)-N BOT (1), α(2)=N TOP (2)-N BOT (2). Furthermore, since the fluctuations in the engine condition of each cylinder, ascribed to the occurrence of roughness can be determined even by monitoring the vibration acceleration of the engine in the rolling direction thereof, for example, a difference ΔP between adjacent acceleration peaks, this means also enables the detection of roughness. According to the present invention described above, a controlled variable such as the torque of an electric machine being an engine load and a timing at which a signal of the torque controlled-variable is applied are controlled variably and correspondingly to the degree of roughness and the number of revolutions of the engine immediately before the occurrence of the roughness, in such a manner that these variables and timing are optimized in view of the engine vibration suppressing effect. Therefore, the irregular vibrations of a car body ascribed to idling roughness can be reduced effectively at all times according to the condition of the idling operation without carrying out excessively large and excessively small torque control operation.

Claims: Method for reducing vibrations of a car body of an automobile provided with an internal combustion engine, with the step of exerting an external force to the engine block of the engine (11) in a direction to cancel the engine roll vibrations caused by the roughness, characterized by detecting the occurrence of roughness caused by an irregular combustion of the engine (11) at idling speed and temporarily exerting the external force in a time range of about 1/2 cycle of the natural frequency of the roll vibrations of the engine (11) after the top dead center (TDC) around which roughness is detected. Method according to claim 1, characterized by detecting the engine angular velocity and its changes for determining the occurrence of roughness. Method according to claim 2, characterized in that the temporarily exerted external force is the force of reaction caused by a rapid increase in torque generated by a rotary machine mounted on the engine (11) so that the rotating axis of the rotary machine is in parallel to the rolling axis of the engine (11). Method according to claim 3, characterized in that the rotary machine is an alternator (10) and the alternator (10) is controlled so as to increase the output torque thereof in a pulse-like form. Method according to claim 3, characterized in that the rotary machine is an alternator (10) which is controlled so as to satisfy the quantity of the rapid increase in torque and timing of the torque increase which are determined according to the degree of roughness and the angular velocity of the engine immediately before the occurrence of the roughness. Method according to claim 2, characterized in that the roughness is detected during idling of the engine (11) and the exerting of the external force comprises the steps of: setting the output of an electric machine driven by the engine as a controlled variable determined on the basis of a degree of roughness and an angular velocity of the engine to be suitable for reducing the vibrations of the engine (11) caused by the roughness, determining upon the detection of the occurrence of roughness, an optimum output to reduce the vibrations of the engine (11) caused by the roughness in accordance with a degree of the occurred roughness and the angular velocity detected immediately before the occurrence of the roughness, and controlling the electric machine to increase temporarily the output thereof with a timing after the occurrence of the roughness so that the output reaches the optimum value whereby the vibrations of the engine (11) and the car body is reduced. Method according to claim 2, characterized in that the roughness is detected during idling of the engine (11) and the exerting of the external force comprises the steps of: setting an increased output of an electric machine driven by the engine (11) and timing this increase on the basis of the degree of roughness and the angular velocity, determining an optimum increase in the output of the engine (11) and an optimum timing of the output increase in accordance with the detected degree of roughness and the angular velocity detected immediately before the occurrence of the roughness, and controlling the electric machine to increase temporarily the output thereof with the optimum timing so as to reach the optimum output, whereby vibrations of the engine (11) and the car body caused by roughness are reduced. Method according to claim 7, characterized in that the electric machine consists of an automobile battery charging alternator (10), a field current in the alternator (10) is controlled so that the alternator (10) output is the optimum torque. Method according to claim 8, characterized in that the torque is varied by varying the pulse width of an electric signal applied to the alternator (10). Method according to claim 9, characterized in that a variable control pulse is applied to the alternator (10) so as to suppress the vibration of the engine (11) ascribed to the occurrence of roughness is set so that the center of the pulse width is positioned at 1/2 of the cycle of natural frequency of rolling vibrations of the engine (11). Method according to claim 10, characterized in that the alternator (10) is controlled so as to reach the optimum output in the range of 1/4-3/4 cycles of the natural frequency value of rolling vibration of the engine (11) which are ascribed to roughness. Method according to claim 11, characterized in that the torque is made variable by varying a boosting voltage of an electric signal applied to the alternator (10). Method according to claim 12, characterized in that the detection of roughness is made by taking in detected data on the angular velocity of the engine (11) at every crank angle of 720°/n, wherein n is the number of cylinders in the engine, and by determining a difference between a detected value of the angular velocity of the engine currently taken and that of the angular velocity of the engine taken in a preceding time. Method according to claim 12, characterized in that the detection of roughness is performed by determining a difference α between a peak value N TOP of rotational speed of the engine (11) and a peak value N BOT where the rotational speed decreases, which appear at every crank angle of 720°/n, wherein n is the number of cylinders in the engine (11), or a difference Δα(2) between a current difference α(2) and the preceding difference α(1). Method according to claim 7, characterized in that the detection of roughness is performed by determining the vibration acceleration in the direction of the rolling occurring in the engine (11). Method according to claim 15, characterized in that after the torque of the electric machine is increased when roughness is detected, while the influence of the torque control operation appears as a decrease in the angular velocity of the engine (11), the updating only of the detected data on the angular velocity of the engine is made without carrying out the detection of roughness again. Apparatus for reducing vibrations of a car body (13) of an automobile having an internal combustion engine (11) comprising means (10, 113, 112, 120) for exerting an external force to the engine block of the engine (11) in a direction to cancel the engine roll vibrations caused by the roughness, characterized in that means (1, 2, 6, 7, 8) are provided for detecting the occurrence of roughness caused by irregular combustion of the engine (11) at idling speed and the means for exerting an external force (10, 113, 112, 120) temporarily exert the external force in a time range of about 1/2 cycle of the natural frequency of the roll vibration of the engine (11) after the top dead center (TDC) around which roughness is detected. Apparatus according to claim 17, characterized in that the means (1, 2, 6, 7, 8) for detecting the occurrence of roughness comprises a crank angle sensor (6) mounted on the engine (11) to output angular velocity signals and means (1) monitoring the detected angular velocity and determining the occurrence of roughness from a change in the detected angular velocity, and the means (10, 112, 113, 120) for exerting force comprises a rotary machine (10) secured to the engine (11) and a control means (112, 113) for controlling the rotary machine so as to provide a rapid increase in output torque temporarily at an appropriate time after the occurrence of roughness. Apparatus according to claim 17, characterized in that the means (1, 2, 6, 7, 8) for detecting the occurrence of roughness detects roughness on the basis of change in operation condition of an engine (11) during idling thereof, and the means for exerting a force comprises: means (1, 6) for detecting the angular velocity of the engine (11), means (4, 5) for storing the torque values of an electric machine (10), which are engine loads, as control variables suitable for suppressing the vibration of the engine (11) ascribed to the occurrence of roughness in a data map or in the form of a calculation formula on the basis of the relation between the degree of roughness and the number of revolutions of the engine, means (3) for determining, when roughness is detected, an optimum torque corresponding to an actual detected value of the roughness and a value detected immediately before the occurrence of the roughness of the angular velocity of the engine (11) on the basis of the retrieval of the data map or on the basis of the calculation formula, and means (9) for controlling a value of voltage applied to the electric machine (10) or the pulse width thereof according to a retrieved or calculated torque. Apparatus according to claim 17, characterized in that the means (1, 2, 6, 7, 8) for detecting the occurrence of roughness detects roughness on the basis of change in operating condition of an engine (11) during the idling thereof and the means (10, 112, 113, 120) for exerting force comprises: means (3, 7, 8) for detecting the number of revolutions of the engine, means (4, 5) for storing the torque values of an electric machine (10), which are engine loads, as control variables suitable for suppressing the vibration of the engine (11) ascribed to the occurrence of roughness, and a timing at which an electric signal concerning this control operation is applied to the electric machine (10), as variable timing, in a data map for retrieval or in the form of a calculation formula from the relation between the degree of roughness and the angular velocity of the engine (11); means (3) for determing, when roughness is detected, an optimum torque value and the timing thereof corresponding to a detected value of the roughness and a value, detected immediately before the occurrence of the roughness, of angular velocity of the engine (11), on the basis of the retrieval of the data map or on the basis of the calculation formula, and means (9) for variably controlling a value of voltage applied or calculated to the electric machine (10) on the basis of a retrieved control variable of torque and the timing, or the pulse width thereof.

Inventors: FUKUSHIMA MASAO, KADOMUKAI YUZO, MAEDA YUUJI, MURAKAMI KEI, NAKAMURA KENICHI, NAKAMURA YOZO, SAKAMOTO MASAHIDE, FUKUSHIMA, MASAO, KADOMUKAI, YUZO, MAEDA, YUUJI, MURAKAMI, KEI, NAKAMURA, KENICHI, NAKAMURA, YOZO, SAKAMOTO, MASAHIDE
Applicants: HITACHI LTD, NISSAN MOTOR, HITACHI, LTD., NISSAN MOTOR CO., LTD.
Application year: 1991
Main classification: G05D19
IPC codes: F02D45, F02B75, F02D29, H02P9, G05D19, B60K5, F16F15