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Harmonic responses can be seen widely in many applications, such as vehicle powertrain noise, gear vibration, and other rotating machineries. Hence, to develop an effective system for harmonic control is highly desirable. For single frequency control, it can be easily suppressed by most active control systems. However, when a cluster of harmonic responses that spreads over a wide frequency range or contains rapidly varying frequencies, the traditional filtered-x least mean square (FXLMS) algorithm may not be able to achieve significant enough reduction over a wide frequency range or track variations in frequency due to the large dynamic range of secondary path in that wide spectral range. In this study, an enhanced algorithm, namely the inverse model least mean square algorithm (IMLMS), which utilizes the inverse model of the secondary path to minimize the effect of the secondary path dynamics on the algorithm convergence, is proposed to improve the convergence property and tracking ability of the active control system. Numerical simulation using synthesized signals was performed. Results show significant improvement on the convergence of the system and in turn achieving more reductions in the responses over a wide frequency range by the proposed scheme.
Оригинальное название
Enhanced Inverse Model LMS Algorithm for Active Control of Harmonic Response Clusters
Harmonic responses can be seen widely in many applications, such as vehicle powertrain noise, gear vibration, and other rotating machineries. Hence, to develop an effective system for harmonic control is highly desirable. For single frequency control, it can be easily suppressed by most active control systems. However, when a cluster of harmonic responses that spreads over a wide frequency range or contains rapidly varying frequencies, the traditional filtered-x least mean square (FXLMS) algorithm may not be able to achieve significant enough reduction over a wide frequency range or track variations in frequency due to the large dynamic range of secondary path in that wide spectral range. In this study, an enhanced algorithm, namely the inverse model least mean square algorithm (IMLMS), which utilizes the inverse model of the secondary path to minimize the effect of the secondary path dynamics on the algorithm convergence, is proposed to improve the convergence property and tracking ability of the active control system. Numerical simulation using synthesized signals was performed. Results show significant improvement on the convergence of the system and in turn achieving more reductions in the responses over a wide frequency range by the proposed scheme.
Harmonic responses can be seen widely in many applications, such as vehicle powertrain noise, gear vibration, and other rotating machineries. Hence, to develop an effective system for harmonic control is highly desirable. For single frequency control, it can be easily suppressed by most active control systems. However, when a cluster of harmonic responses that spreads over a wide frequency range or contains rapidly varying frequencies, the traditional filtered-x least mean square (FXLMS) algorithm may not be able to achieve significant enough reduction over a wide frequency range or track variations in frequency due to the large dynamic range of secondary path in that wide spectral range. In this study, an enhanced algorithm, namely the inverse model least mean square algorithm (IMLMS), which utilizes the inverse model of the secondary path to minimize the effect of the secondary path dynamics on the algorithm convergence, is proposed to improve the convergence property and tracking ability of the active control system. Numerical simulation using synthesized signals was performed. Results show significant improvement on the convergence of the system and in turn achieving more reductions in the responses over a wide frequency range by the proposed scheme.
Enhanced inverse model LMS algorithm for active control of
harmonic response clusters
Mingfeng Li a)
Jie Duan b) Teik C. Lim c) School of Dynamic Systems College of Engineering and Applied Science University of Cincinnati Cincinnati, OH 45220
Harmonic responses can be seen widely in many applications, such as vehicle powertrain noise, gear vibration, and other rotating machineries. Hence, to develop an effective system for harmonic control is highly desirable. For single frequency control, it can be easily suppressed by most active control systems. However, when a cluster of harmonic responses that spreads over a wide frequency range or contains rapidly varying frequencies, the traditional filtered-x least mean square (FXLMS) algorithm may not be able to achieve significant enough reduction over a wide frequency range or track variations in frequency due to the large dynamic range of secondary path in that wide spectral range. In this study, an enhanced algorithm, namely the inverse model least mean square algorithm (IMLMS), which utilizes the inverse model of the secondary path to minimize the effect of the secondary path dynamics on the algorithm convergence, is proposed to improve the convergence property and tracking ability of the active control system. Numerical simulation using synthesized signals was performed. Results show significant improvement on the convergence of the system and in turn achieving more reductions in the responses over a wide frequency range by the proposed scheme.
a) email: limf@ucmail.uc.edu b) email: duanjieee02@gmail.com c) email: teik.lim@uc.edu
1 INTRODUCTION
Active noise control (ANC) is to abate the noise by introducing anti-phase sound waveform to counteract the original sound response at target locations 1 . In the past decades, active noise control (ANC) is receiving increasing number of attention in both academia and industries. The successful applications of ANC technology are also increasing in the recent years. Based on the problems that ANC system is used, two categories, namely broadband noise control and harmonic control, can be classified. Harmonic response is prevalent in the rotating machineries, such as motors, fans, turbines, gearboxes, compressors, pumps and powertrains, and as well as systems consisting of electronic and electromechanical components, such as MRI scanners, hard disk drives, transformers, and computers. They often produce acoustic noise that can be annoying and sometimes loud enough to be harmful to human hearing. Hence, controlling harmonic responses is very desirable for many applications. For some applications, the frequency of the harmonics may vary with the time. Hence, one of the most important factors of the designed active control system might be the convergence property or tracking ability of the algorithm. The traditional active control system for harmonic control is essentially a feedforward type where the reference signal is created according to the frequency information of the disturbance such as the speed of shaft in rotatory system, as shown in Fig. 1. As early as in 1977, Glover used the sum of the sinusoidal components as the reference signal 2 . In 1985, Elliot and Darlington synchronously sampled the interference to improve the efficiency of the harmonic controller 3 . Later, Bodson and his group proposed an indirect approach to control the harmonic responses, where the frequency is unknown 4,5 .
Fig. 1 - Traditional feedforward control system for suppressing harmonic disturbance
Convergent speed of the system will affect the system performance, especially for frequency-varying cases such as engine ramp-up. One main factor affecting the convergent speed is the varying power of filtered reference signal. The convergence property of the algorithm is controlled by step size of the FXLMS algorithm. However, the step size has an upper limit which is determined by power of filtered reference signal and the secondary path dynamics 1 . The secondary path is defined as the transfer function from the input of the control source to the output of the error sensor. In most of ANC applications, the control source is typically a speaker while the error sensor is a microphone. Hence, the dynamics of secondary path is normally highly dynamic system. In 2008, the eigenvalue equalization method, proposed by Sommerfeldt et al. 6,7 , provided a certain degree of improvement for suppressing harmonic response. However, it did not address the converging speed issue due to the phase delay of secondary path. To overcome the convergence problem existing in most of control systems, a new active control system that is effective in treating harmonic signals is proposed. The proposed algorithm does not employs the convolution calculation to obtain the filtered reference signal, and uses the least mean square (LMS) formulation instead of the more complex FXLMS approach to increase the overall convergent speed over a broad frequency range.
W(z) u(n) y(n) r(n) Sine Wave Generator FIR Rotation Speed or disturbance frequency + + LMS d(n) Disturbance Noise e(n) 2 INVERSED MODEL LMS ALGRITHM
Since the basic LMS does not need a filtered reference signal to update the adaptive filter weights, there is no need for the convolution operation. Also, the converging speed of the basic LMS algorithm only depends on the power of reference signal. However, basic LMS algorithm can only be applied to cases where no secondary path exists. In most ANC applications, there is always a secondary path in the system. Hence, to apply the basic LMS algorithm in an active control system, we have to find a way to eliminate the effect of the secondary path. One approach is to add an inverse model of the secondary path after the controller as shown as Fig. 2. However, for most cases, the secondary path is a non-minimum phase system. Hence, a stable and casual inverse model does not exist for broadband noise control. Fortunately, for harmonic control, this is not an issue because a non-casual filter can be used, which allows the system shown in Fig. 2 to be implemented for harmonic response control.
Fig. 2 - Applying the basic LMS algorithm by using an inverse model of the secondary path after the controller.
Two different implementations are developed as shown in Figs. 3 and 4. The first implementation is shown in Fig. 3. The output of the controller, u(n), is phase shifted and multiplied by a gain. The values of the phase shift and the gain can be calculated from the measured response of the secondary path. The response of the inverse model of the secondary path can be expressed as
0 1/ ( ) 1/( ) H j A jB = + (1)
where 0 is the frequency of the reference signal, A and B are real and imaginary parts of the secondary path response, which can be obtained through a system identification. Hence the phase shift and gain g in Fig. 3 can be expressed as arctan( / ) B A = and 2 2 1/ g A B = + . The second implementation is shown in Fig. 4. We know that the output of control filter W(z) is still a sinewave signal but with phase shifted and amplified or attenuated of the reference signal. Assuming the reference signal 0 ( ) cos( ) r n n = , then the output of control filter will be 0 0 0 ( ) cos( ) u n g n = + , when g 1 and 1 are the gain and phase of the control filter. The signal u(n) is needed to filtered by the inverse model of secondary path. That means the output the W(z) u(n) y(n) r(n) Sine Wave Generator FIR Rotation Speed or disturbance frequency + + LMS d(n) Disturbance Noise e(n) 1/H(z) inverse model should be 0 0 0 cos( ) g g n + + . If we know 0 0 0 sin( ) g n + , we can easily obtain the output after inverse model, which is 0 0 0 0 0 0 0 0 0 cos( ) cos( ) sin( ) g g n Ag n Bg n + + = + + + (2) Fortunately, 0 0 0 sin( ) g n + can be easily obtained through filtering 0 sin( ) n by control filter W(z) that is shown in Fig. 4.
Fig. 3 - First implementation: using phase shifting and multiplying a gain to the output of the controller, u(n), to eliminate the secondary path effect at that frequency.
Fig.4 - Second implementation: tuning the gains of the cosine and sine components to shift the phase and adjust the gain.
H(z) u(n) y(n) r(n) Sine Wave Generator W(z) + + LMS d(n) Disturbance Noise e(n) A Rotation Speed or disturbance frequency B W(z) 90 copy H(z) u(n) y(n) r(n) Sine Wave Generator W(z) + + LMS d(n) Disturbance Noise e(n) Phase shift Gain Secondary Path response Frequency Rotation Speed or disturbance frequency 3 NUMERICAL SIMULATION
To demonstrate the performance of the proposed system, the algorithms are applied to control a set of steady-state and time-varying harmonics in numerical simulation. The used secondary path in the simulation is shown in Fig. 5, which is a measured dynamic response. Simulation results for these two implementations compared to the traditional FXLMS approach are shown in Figs. 6-10. Figure 6 is the time history of controlled response for multiple steady-state harmonics at constant frequencies from 100 Hz to 900 Hz with 100 Hz increment using the first ANC implementation (FIR adaptive filter) proposed. The top plot of Fig. 6 is the controlled response of the proposed control system. The bottom plot of Fig. 6 is the controlled response using the traditional FXLMS algorithm. Obviously, the proposed system can yield faster convergence speed than the traditional FXLMS algorithm. Figure 7 shows the frequency spectrum and the corresponding reduction of the controlled response using the last one second of data from Fig. 6. Results show clearly that over 50 dB reductions are obtained for all harmonic components when it is applying the proposed algorithm for the harmonic control. For the traditional system, much less reductions are achieved at some high frequency components, especially for 800 Hz and 900 Hz. Even at the last second of the simulation, less than 20 dB reduction at 800 Hz can be obtained. For the 900 Hz, only few dB reductions is seen. Hence, the overall converging speed of the traditional system is much slower than the new system due to the slow convergence at high frequencies. The reason is the low responses of secondary path at high frequencies as shown in Fig. 5. Figures 8-10 are the simulation results using the second ANC implementation proposed. Fig. 8 is the time history of controlled response for multiple steady-state harmonics at constant frequencies of from 100 Hz to 900 Hz with 100 Hz increment. The top plot of Fig. 8 is the controlled response of our proposed system. The bottom plot of Fig. 8 is the controlled response using the traditional FXLMS algorithm. Figure 9 shows the response spectrum and corresponding reduction of the controlled response using the last one second of data from Fig. 8. From the results, similar conclusion as the first implementation can be drawn. In the Fig. 10, it shows the simulation results of the swept sine case with the frequency linearly changing from 200 Hz to 800 Hz in 5 seconds. The black line represents the control results for the traditional FXLMS algorithm. Red line is the results from the proposed system. Similarly, the results show significant improvement achieved by the proposed system as compared to the traditional one.
4 CONCLUSIONS
In this paper, an enhanced algorithm, namely the inverse model least mean square algorithm (IMLMS) was proposed to improve the control performance for the harmonic responses by using the inverse model of the secondary path to minimize the effect of the secondary path dynamics on the algorithm convergence. Numerical simulation was performed and compared between traditional FXLMS algorithm and proposed systems. Results show significant improvement on the convergence of the system and in turn achieving more reductions in the responses over a wide frequency range by the proposed scheme.
5 REFERENCES
1. S. M. Kuo and D.R. Morgan, Active Noise Control Systems: Algorithm and DSP Implementation, J ohn Wiley & Sons, Inc, New York, (1996).
2. J . R. Glover J R., Adaptive noise canceling applied to sinusoidal interferences, IEEE Transaction on Acoustics, Speech, and Signal Processing, 25(6), 484-491, (1977).
3. S.J . Elliott and P. Darlington, Adaptive cancellation of periodic, synchronously sampled interference, IEEE Transaction on Acoustics, Speech, and Signal Processing, 33(3), 715- 717, (1985).
4. M. Bodson and S.C. Douglas, Adaptive algorithms for rejection of sinusoidal interferences with unknown frequency, Automatic, 33(12), 2213-2221, (1997).
5. B. Wu and M. Bodson, Multi-channel active noise control for periodic sources-indirect approach, Automatic, 40, 203-212, (2004).
6. S.D. Sommerfeldt, J . Blotter, B.M. Faber, Secondary path modeling for active noise control, US Patent, 2008/0144853 A1, (2008).
7. J .K. Thomas, S. Lovstedt, J .D. Blotter, S.D. Sommerfeldt, and B. Faber, Eigenvalue equalization filtered-x (EE-FXLMS) algorithm applied to the active minimization of tractor noise in a mock cabin, Noise Control Engineering Journal, 56(1), 2534, (2008).
0 100 200 300 400 500 600 700 800 900 1000 -50 -40 -30 -20 -10 0 10 M a g n i t u d e
( d B ) 0 100 200 300 400 500 600 700 800 900 1000 -200 0 200 Frequency (Hz) P h a s e
( D e g )
Fig.5 - Frequency response of secondary path used in simulation 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 -5 0 5 P r o p o s e d
L M S _ I n v e r s e
S y s t e m 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 -5 0 5 Time (Sec) T r a d i t i o n a l
F X L M S
S y s t e m Fast convergence Slow convergence
Fig. 6 - Time history of controlled response for multiple harmonics at constant frequencies of 100~900 Hz. (Top plot, proposed system; bottom plot, traditional FXLMS algorithm)
0 100 200 300 400 500 600 700 800 900 1000 -60 -40 -20 0 M a g n i t u d e
( d B ) 100 200 300 400 500 600 700 800 900 0 20 40 60 80 Frequency (Hz) R e d u c t i o n
( d B ) More reduction Less reduction
Fig. 7 - Frequency spectrum of controlled response for multiple harmonics at frequencies of 100~900 Hz using the last one second of simulation data. (Keys: blue line, baseline response; red line, proposed new system; black line, traditional FXLMS algorithm)
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 -5 0 5 P r o p o s e d
L M S _ I n v e r s e d
S y s t e m 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 -5 0 5 Time (Sec) T r a d i t i o n a l
F X L M S
S y s t e m Slow convergence Fast convergence
Fig. 8 - Time history of controlled response for multiple harmonics at constant frequencies of 100~900 Hz. (Top plot, proposed system; bottom plot, traditional FXLMS algorithm)
0 100 200 300 400 500 600 700 800 900 1000 -60 -40 -20 0 M a g n i t u d e
( d B ) 100 200 300 400 500 600 700 800 900 0 20 40 60 80 Frequency (Hz) R e d u c t i o n
( d B ) Less reduction More reduction
Fig. 9 - Frequency spectrum of controlled response for multiple harmonics at constant frequencies of 100~900 Hz using the last one second of simulated data. (Keys: blue line, baseline response; red line, proposed new system; black line, traditional FXLMS algorithm) 200 300 400 500 600 700 800 -25 -20 -15 -10 -5 0 Frequency (Hz) M a g n i t u d e
( d B )
Fig. 10 - Frequency spectrum of controlled response for swept sine case with frequency changing from 200 Hz to 800 Hz in 5 seconds. (Keys: blue line, baseline response; red line, proposed new system; black line, traditional FXLMS algorithm)