Active line spectrum rejection and intelligent voicing control methods and systems and vehicles

Abstract

The application provides an active line spectrum suppression and intelligent sound control method and system, and an aircraft. The method comprises the following steps: collecting vibration noise of the aircraft at a collection position to obtain a vibration reference signal; generating a first signal; inputting the vibration reference signal and the first signal into a sound filter to obtain a processed excitation signal; applying the first signal and the excitation signal to an execution device; receiving vibration signals of the execution device and vibration noise of the aircraft at a receiving position to obtain a second pre-play signal; inputting the second pre-play signal into the sound filter; and the sound filter adaptively adjusts its own parameters so that the similarity between the second pre-play signal and the first signal reaches a predetermined similarity threshold. According to the active line spectrum suppression and intelligent sound control method, the functions of "active noise cancellation" and "intelligent sound" can be realized simultaneously through the same execution device, the specific control link is effectively simplified, and the camouflage effect is remarkable.

Description

Technical Field

[0001] This application relates to the field of active noise control technology, specifically to an active line spectrum suppression and intelligent sound generation control method and system, as well as a vehicle equipped with the system. Background Technology

[0002] Intelligent unmanned equipment will become key to victory in all fields of air, land, sea, and air. With the upgrading of unmanned aerial vehicle power systems and the improvement of intelligence, countermeasures will also evolve from traditional target feature suppression to intelligent switching of acoustic features across marine species and various equipment. Low-frequency active line spectrum suppression and intelligent sound generation-integrated underwater radiated noise control are key technologies that urgently need breakthroughs and development. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] The first aspect of this application provides an active line spectrum suppression and intelligent sound generation control method for a spacecraft, comprising:

[0005] The vibration noise of the vehicle is collected at the acquisition location to obtain a vibration reference signal;

[0006] Generate the first signal;

[0007] The vibration reference signal and the first signal are input into the sound filter to obtain the processed excitation signal;

[0008] The first signal and the excitation signal are applied to the execution device;

[0009] The vibration signal of the actuator and the vibration noise of the vehicle are received at the receiving position to obtain the second propagation signal;

[0010] The second propagation signal is input into the sound filter;

[0011] The sound filter adaptively adjusts its parameters so that the similarity between the second propagation signal and the first signal reaches a predetermined similarity threshold.

[0012] According to the active line spectrum suppression and intelligent sound generation control method of this application, the functions of "active noise reduction" and "intelligent sound generation" can be realized simultaneously through the same actuator, which effectively simplifies the specific control process and has a significant concealment effect.

[0013] Optionally, the sound filter includes:

[0014] A controllable filter, wherein the vibration reference signal is the input signal of the controllable filter, and the excitation signal is the output signal of the controllable filter;

[0015] An additional filter, wherein the input signals of the additional filter are the first signal and the vibration reference signal, and the output signal of the additional filter is an additional filtered signal; and

[0016] A filter controller is configured to receive the vibration reference signal, the second propagation signal, and the additional filtered signal, and adaptively adjust the parameters of the controllable filter according to the vibration reference signal, the second propagation signal, and the additional filtered signal, so that the similarity between the second propagation signal and the first signal reaches a predetermined similarity threshold.

[0017] According to the active line spectrum suppression and intelligent sound generation control method of this application, the parameters of the controllable filter are adaptively adjusted using both the noise signal to be eliminated and the first signal to be played, so as to effectively eliminate the noise signal while retaining the first signal.

[0018] Optionally, the filter controller is configured to adaptively adjust the parameters of the controllable filter using the least mean square criterion.

[0019] According to the active line spectrum suppression and intelligent sound generation control method of this application, the core of the active noise cancellation algorithm is the FX-LMS adaptive algorithm. The FX-LMS algorithm is based on the steepest descent method principle and uses the square value of the instantaneous error to replace the stochastic gradient of the mean square error, thus avoiding the drawbacks caused by the general gradient estimation.

[0020] Optionally, the additional filter includes a bandpass filter with the characteristic frequency of the vehicle's vibration noise as its center frequency.

[0021] According to the active line spectrum suppression and intelligent sound generation control method of this application, the purpose of the bandpass filter is to extract the active vibration damping target signal related to the reference vibration signal from the first signal. By performing bandpass filtering on the first signal and inputting the part of its frequency that overlaps with the vibration noise into the filter controller, the energy interference problem between the "noise damping" function and the "sound generation" function is solved, ensuring the control effect of both functions.

[0022] Optionally, the sound filter further includes a secondary channel model filter, which is a simulation model of the sound transmission characteristics of the physical space from the actuator to the receiving location.

[0023] The vibration reference signal is filtered by the secondary channel model filter and then input to the controllable filter.

[0024] The additional filter also includes the secondary channel model filter, in which the bandpass filter is connected in series with the secondary channel model filter.

[0025] According to the active line spectrum suppression and intelligent sound generation control method of this application, the secondary channel model filter simulates the sound transmission characteristics of the secondary channel physical space from the actuator to the receiving position, thereby achieving a better "noise cancellation" effect.

[0026] Optionally, the data collection location is set at the vibration isolation device of the vehicle; and / or

[0027] The receiving position is located on the outer shell of the vehicle.

[0028] According to the active line spectrum suppression and intelligent sound generation control method of this application, the acquisition position is set at the vibration isolation device of the vehicle, thereby enabling the acquisition of the vehicle's own true characteristic acoustic signature. The receiving position is set at the outer shell of the vehicle, so that the vibration signal propagated by the vehicle to the outside world is basically the second propagation signal at the outer shell, that is, highly similar to the first signal, which is beneficial for better concealment of the vehicle.

[0029] A second aspect of this application provides an active line spectrum suppression and intelligent sound generation control system for a spacecraft, comprising:

[0030] The first sensor is used to collect the vibration noise of the vehicle at the acquisition location to obtain a vibration reference signal. ；

[0031] The first signal generation module is used to generate the first signal;

[0032] A sound filtering module is used to receive and process the vibration reference signal and the first signal to obtain a processed excitation signal;

[0033] An actuator is configured to receive the first signal and the excitation signal, and to vibrate under the action of the first signal and the excitation signal;

[0034] The second sensor is used to receive the vibration signal of the actuator and the vibration noise of the vehicle at the receiving position to obtain the second propagation signal;

[0035] The sound filtering module is further configured to receive the second propagation signal and to adaptively adjust its own parameters so that the similarity between the second propagation signal and the first signal reaches a predetermined similarity threshold.

[0036] According to the active line spectrum suppression and intelligent sound generation control system of this application, the functions of "active noise reduction" and "intelligent sound generation" can be realized simultaneously through the same actuator. The system has a simple structure and a significant concealment effect.

[0037] Optionally, the sound filtering module includes:

[0038] A controllable filtering module, wherein the vibration reference signal is the input signal of the controllable filtering module, and the excitation signal is the output signal of the controllable filtering module;

[0039] An additional filtering module, wherein the input signals of the additional filtering module are the first signal and the vibration reference signal, and the output signal of the additional filtering module is the additional filtered signal; and

[0040] A filter control module is configured to receive the vibration reference signal, the second propagation signal, and the additional filter signal, and adaptively adjust the parameters of the controllable filter module according to the vibration reference signal, the second propagation signal, and the additional filter signal, so that the similarity between the second propagation signal and the first signal reaches a predetermined similarity threshold.

[0041] According to the active line spectrum suppression and intelligent sound generation control system of this application, the parameters of the controllable filtering module are adaptively adjusted simultaneously using the noise signal to be eliminated and the first signal to be played, so as to effectively eliminate the noise signal while retaining the first signal.

[0042] Optionally, the filter control module controller is configured to adaptively adjust the parameters of the controllable filter module using the least mean square criterion.

[0043] According to the active line spectrum suppression and intelligent sound generation control system of this application, the core of the active noise cancellation algorithm is the FX-LMS adaptive algorithm. The FX-LMS algorithm is based on the steepest descent method principle and uses the square value of the instantaneous error to replace the stochastic gradient of the mean square error, thus avoiding the drawbacks caused by the general gradient estimation.

[0044] Optionally, the additional filtering module includes a bandpass filter module, which uses the characteristic frequency of the vibration noise of the aircraft as its center frequency.

[0045] According to the active line spectrum suppression and intelligent sound generation control system of this application, the purpose of the bandpass filter module is to extract the active vibration damping target signal related to the reference vibration signal from the first signal. By performing bandpass filtering on the first signal and inputting the part of its frequency that overlaps with the vibration noise into the filter controller, the energy interference problem between the "noise damping" function and the "sound generation" function is solved, ensuring the control effect of both functions.

[0046] Optionally, the sound filtering module further includes a secondary channel model filtering module, which is a simulation model of the sound transmission characteristics of the physical space from the actuator to the receiving position.

[0047] The vibration reference signal is filtered by the secondary channel model filtering module and then input to the controllable filtering module.

[0048] The additional filtering module also includes the secondary channel model filtering module, in which the bandpass filtering module and the secondary channel model filtering module are connected in series.

[0049] According to the active line spectrum suppression and intelligent sound generation control system of this application, the secondary channel model filtering module simulates the sound transmission characteristics of the secondary channel physical space from the actuator to the receiving position, thereby achieving a better "noise cancellation" effect.

[0050] Optionally, the data collection location is set at the vibration isolation device of the vehicle; and / or

[0051] The receiving position is located on the outer shell of the vehicle.

[0052] According to the active line spectrum suppression and intelligent sound generation control system of this application, the acquisition position is set at the vibration isolation device of the vehicle, thereby enabling the acquisition of the vehicle's own true characteristic acoustic signature. The receiving position is set at the outer shell of the vehicle, so that the vibration signal propagated by the vehicle to the outside world is basically the second propagation signal at the outer shell, that is, highly similar to the first signal, which is beneficial for better concealment of the vehicle.

[0053] Optionally, the first sensor and the second sensor are vibration sensors; and / or

[0054] The actuator is a loudspeaker.

[0055] According to the active line spectrum suppression and intelligent sound generation control system of this application, the first sensor, the second sensor, and the actuator are technologically mature and have stable performance.

[0056] A third aspect of this application provides an aircraft comprising an active line spectrum suppression and intelligent sound generation control system according to any one of the above technical solutions, wherein the vibration noise of the aircraft originates from the aircraft's power system and / or auxiliary equipment.

[0057] The aircraft according to this application has a characteristic acoustic signature derived from the power system and / or auxiliary equipment. The aircraft can simultaneously achieve the functions of "active noise cancellation" and "intelligent sound generation" through the same actuator. The aircraft has a simple structure and a significant stealth effect. Attached Figure Description

[0058] The following drawings, which are incorporated herein by reference and are used to understand this application, illustrate embodiments of the application and their descriptions to explain the principles of the application. In the drawings:

[0059] Figure 1 This is a schematic diagram of a vehicle according to a preferred embodiment of this application;

[0060] Figure 2 This is a schematic diagram of the active line spectrum suppression and intelligent sound generation control system according to a preferred embodiment of this application, wherein the solid line represents the transmission path of the electrical signal and the double-dotted line represents the transmission path of the mechanical vibration signal;

[0061] Figure 3 In a specific example Figure 1 The diagram shown is a time spectrum diagram of the vibration signal emitted by the aircraft when the active line spectrum suppression and intelligent sound control system according to this application is not activated, where the horizontal axis is frequency, the vertical axis is time, and the waveform color represents vibration energy.

[0062] Figure 4 In order to be in Figure 3 The example is a time spectrum diagram of the vibration signal emitted by the aircraft when it activates the active line spectrum suppression and intelligent sound generation control system according to this application, where the horizontal axis is frequency, the vertical axis is time, and the waveform color represents vibration energy.

[0063] Explanation of reference numerals in the attached figures:

[0064] 10: Aircraft

[0065] 11: Outer shell

[0066] 12: Power System

[0067] 13: Auxiliary equipment

[0068] 14: Vibration isolation device

[0069] 15: Actuating device

[0070] 16: First sensor

[0071] 17: Second sensor

[0072] 18: Control device

[0073] 20: Active line spectrum suppression and intelligent sound generation control system

[0074] 30: Sound filtering module

[0075] 31: Controllable Filtering Module

[0076] 32: Additional Filtering Module

[0077] 33: Filter Control Module

[0078] 34: Bandpass filter module

[0079] 35: Secondary Channel Model Filtering Module

[0080] 40: First signal generation module Detailed Implementation

[0081] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0082] To fully understand this application, a detailed description will be provided in the following description. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other embodiments.

[0083] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0084] Ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0085] It should be noted that the terms “up,” “down,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this article are for illustrative purposes only and are not intended to be restrictive.

[0086] This application provides an active line spectrum suppression and intelligent sound control method and system for a vehicle, as well as a vehicle having the system.

[0087] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0088] like Figure 1 As shown, in a preferred embodiment, the vehicle 10 according to this application includes an active line spectrum suppression and intelligent acoustic control system 20 (hereinafter referred to as the control system 20) according to this application. In the vehicle 10, the control system 20 is used to cancel the radiated vibration noise of the vehicle 10. Based on active sound suppression, it actively emits target acoustic signature information through intelligent acoustic function to simulate the acoustic signature of, for example, other ships or underwater organisms, thereby achieving the purpose of confusing and disturbing the other party.

[0089] Typically, the aircraft 10 includes an outer shell 11. The outer shell 11 encloses the internal cavity of the aircraft 10. The power system 12 and auxiliary equipment 13 are housed within this internal cavity. The radiated vibration noise x(n) of the aircraft 10 mainly originates from the power system 12 and / or the auxiliary equipment 13.

[0090] like Figure 1 and Figure 2 As shown, to suppress the characteristic acoustic signature of the vehicle 10 and simultaneously emit a substitute acoustic signature, the control system 20 includes a first sensor 16, a first signal generation module 40, a sound filtering module 30, an actuator 15, and a second sensor 17. The first sensor 16 is used to collect the vibration noise x(n) of the vehicle 10 at the acquisition location to obtain a vibration reference signal s(n). The first signal generation module 40 is used to generate a first signal r(n) (i.e., a substitute sound wave). The sound filtering module 30 is used to receive and process the vibration reference signal s(n) and the first signal r(n) to obtain a processed excitation signal u(n). The actuator 15 is used to receive the first signal r(n) and the excitation signal u(n) to generate vibration (i.e., generate dynamic force output, or generate sound waves) under the action of the first signal r(n) and the excitation signal u(n). The second sensor 17 is used to receive the vibration signal y(n) of the actuator 15 and the vibration noise d(n) of the vehicle at the receiving location to obtain a second propagation signal t2(n). The sound filtering module 30 is also used to receive the second propagation signal t2(n). The sound filtering module 30 is configured to adaptively adjust its own parameters so that the similarity between the second propagation signal t2(n) and the first signal r(n) reaches a predetermined similarity threshold.

[0091] like Figure 2As shown, the vibration reference signal s(n) and the first signal r(n) are the input signals of the sound filtering module 30, the excitation signal u(n) is the output signal of the sound filtering module 30, and the second propagation signal t2(n) is the feedback signal received by the sound filtering module 30. P(z) is the sound transmission characteristic of the primary channel physical space from the noise source (power system 12 and / or auxiliary equipment 13) to the receiving position (i.e., the position of the second sensor 17). The vibration noise x(n) emitted by the noise source becomes a mechanical vibration signal d(n) after passing through the primary channel physical space. Signals x(n) and d(n) can be understood as the same vibration transmitted to different positions in space. Signals x(n) and s(n) are the mechanical and digital (electrical) representations of the same signal, respectively. H(z) is the sound transmission characteristic of the secondary channel physical space from the actuator 15 to the receiving position (i.e., the position of the second sensor 17). The vibration signal q(n) emitted by the actuator 15 forms a signal y(n) after passing through the secondary channel. Signals q(n) and y(n) can be understood as signals transmitted from the same vibration to different locations in space. The first propagation signal t1(n) consists of two parts: d(n) and y(n). The first propagation signal t1(n) is a mechanical vibration signal. Signals t1(n) and t2(n) are the mechanical and digital (electrical) representations of the same signal, respectively. It is understandable that once the spacecraft 10 is finalized, the physical characteristics P(z) of the primary channel and H(z) of the secondary channel will remain essentially fixed.

[0092] According to this application, the vibration q(n) emitted by the actuator 15 is transmitted to the acquisition position as signal y(n), and the vibration noise x(n) is transmitted to the acquisition position as signal d(n) to form a first propagation signal t1(n). The second propagation signal t2(n) is the first propagation signal t1(n) sensed by the second sensor 17. When the similarity between the second propagation signal t2(n) and the first signal r(n) reaches a predetermined similarity threshold, the spectrum of the second propagation signal t2(n) is highly similar to the spectrum of the first signal r(n). That is, at the receiving position of the vehicle 10, the vibration noise emitted by the vehicle 10 is highly similar to the first signal r(n), thereby achieving the purpose of masking the characteristic voiceprint of the vehicle 10 and actively emitting a substitute voiceprint. The active line spectrum suppression and intelligent sound generation control system 20 of this application feeds back the second propagation signal t2(n) to the sound filtering module 30, so that the sound filtering module 30 performs adaptive adjustment, thereby achieving the functions of "active noise cancellation" and "intelligent sound generation" through the same actuator 15. The control system 20 has a simple structure and obvious effect.

[0093] In other words, the active line spectrum suppression and intelligent voice control system 20 works such that the vibration signal of the vehicle 10 at the receiving position is highly similar to the first signal r(n). That is, at the receiving position, the characteristic vibration signal x(n) of the vehicle 10 is almost undetectable, and only the first signal r(n) can be detected. Thus, the vibration signal emitted by the vehicle 10 from the receiving position is almost identical to the first signal r(n), which achieves the purpose of suppressing its own characteristic voiceprint and actively emitting a substitute voiceprint.

[0094] The method for calculating the similarity between two signals is a skill that is well-known to those skilled in the art, and will not be elaborated here.

[0095] Understandably, the first signal r(n) is a signal with characteristics different from the vibration signal x(n) (e.g., different spectral characteristics). In this application, the first signal r(n) can be a single-frequency component signal, a multi-frequency component signal, a frequency-converted signal, or a white noise signal. The control system 20 can make flexible decisions based on actual imitation and substitution requirements.

[0096] The first sensor 16 and the second sensor 17 are transducers that convert mechanical vibration signals into electrical signals. Preferably, the first sensor 16 and the second sensor 17 are configured as vibration sensors. The actuator 15 is a transducer that converts electrical signals into mechanical vibration signals. Preferably, the actuator 15 is configured as a loudspeaker. Preferably, the first signal generation module 40 and the sound filtering module 30 are installed in the control device 18 of the vehicle 10.

[0097] Preferably, the data acquisition position is set at the vibration isolation device 14 of the vehicle 10, that is, the first sensor 16 is preferably installed in the vibration isolation device 14. Preferably, the receiving position is set at the outer shell 11 of the vehicle 10, that is, the second sensor 17 is preferably installed in the outer shell 11.

[0098] Specifically, the sound filtering module 30 includes a sound filter M(z). The vibration reference signal s(n) and the first signal r(n) are input to the sound filter M(z), and the sound filter M(z) processes the vibration reference signal s(n) and the first signal r(n) to obtain the excitation signal u(n).

[0099] like Figure 2As shown, preferably, the sound filtering module 30 includes a controllable filtering module 31, an additional filtering module 32, and a filter control module 33. The vibration reference signal s(n) is the input signal of the controllable filtering module 31, and the excitation signal u(n) is the output signal of the controllable filtering module 31. The input signals of the additional filtering module 32 are the first signal r(n) and the vibration reference signal s(n), and the output signal of the additional filtering module 32 is the additional filtered signal v(n). The filter control module 33 is configured to receive the vibration reference signal s(n), the second propagation signal t2(n), and the additional filtered signal v(n), and adaptively adjust the parameters of the controllable filtering module 31 according to the vibration reference signal s(n), the second propagation signal t2(n), and the additional filtered signal v(n), so that the similarity between the second propagation signal t2(n) and the first signal r(n) reaches a predetermined similarity threshold.

[0100] Specifically, the controllable filtering module 31 includes a controllable filter W(z), the additional filtering module 32 includes an additional filter L(z), and the filter control module 33 includes a filter controller LMS. The vibration reference signal s(n) is the input signal of the controllable filter W(z), and the excitation signal u(n) is the output signal of the controllable filter W(z). The input signals of the additional filter L(z) are the first signal r(n) and the vibration reference signal s(n), and the output signal of the additional filter L(z) is the additional filtered signal v(n). The filter controller LMS is configured to receive the vibration reference signal s(n), the second propagation signal t2(n), and the additional filtered signal v(n), and adaptively adjust the parameters of the controllable filter LMS according to the vibration reference signal s(n), the second propagation signal t2(n), and the additional filtered signal v(n), so that the similarity between the second propagation signal t2(n) and the first signal r(n) reaches a predetermined similarity threshold.

[0101] The controllable filter W(z), the additional filter L(z), and the filter controller LMS are all contained in the sound filter M(z).

[0102] Preferably, the filter control module 33 is configured to adaptively adjust the parameters of the controllable filter module 31 using the least mean square criterion. That is, the filter controller LMS is configured to adaptively adjust the parameters of the controllable filter W(z) using the least mean square criterion. Therefore, in this application, preferably, the core of the active noise cancellation algorithm is the FX-LMS adaptive algorithm. The FX-LMS algorithm is based on the steepest descent method principle, using the square of the instantaneous error instead of the stochastic gradient of the mean square error, thus avoiding the drawbacks caused by general gradient estimation.

[0103] Preferably, the additional filtering module 32 includes a bandpass filtering module 34, which centers on the characteristic frequency of the vibration noise x(n) of the vehicle 10. Specifically, the bandpass filtering module 34 includes a bandpass filter F(z), which centers on the characteristic frequency of the vibration noise x(n) of the vehicle 10. The bandpass filter F(z) is included in the sound filter M(z). In this application, the purpose of the bandpass filter F(z) is to extract the active vibration cancellation target signal related to the reference vibration signal s(n) from the first signal r(n). By bandpass filtering the first signal r(n) and inputting the portion of its frequency overlap with that of the vibration noise x(n) into the filter controller LMS, the energy interference problem between the "noise cancellation" function and the "sound generation" function is solved, ensuring the control effect of both functions. In other words, when suppressing vibration noise x(n), the control system 20 will not suppress the part of the frequency in the first signal r(n) that overlaps with the frequency of vibration noise x(n), so that the first signal r(n) is as undistorted as possible, thus achieving the purpose of stealth vehicle 10.

[0104] Preferably, the sound filtering module 30 further includes a secondary channel model filtering module 35. The secondary channel model filtering module 35 is a simulation model of the sound transmission characteristics H(z) of the secondary channel physical space from the actuator 15 to the receiving position (i.e., the location of the second sensor 17). The vibration reference signal s(n) is filtered by the secondary channel model filtering module 35 and then input to the controllable filtering module 33. The supplementary filtering module 32 also includes a secondary channel model filtering module 35. In the supplementary filtering module 32, a bandpass filter module 34 is connected in series with the secondary channel model filtering module 35.

[0105] Specifically, the sound filter M(z) includes a secondary channel model filter H'(z). The secondary channel model filter H'(z) is a simulation model of the sound transmission characteristics H(z) of the physical space from the actuator 15 to the receiving position. The vibration reference signal s(n) is filtered by the secondary channel model filter H'(z) and then input to the controllable filter LMS. The additional filter L(z) also includes a secondary channel model filter H'(z), in which a bandpass filter F(z) is connected in series with the secondary channel model filter H'(z). Establishing a simulation model H'(z) of the physical characteristics H(z) of the actual secondary channel is a skill well-practiced by those skilled in the art and will not be elaborated upon here.

[0106] In this application, the secondary channel model filter H'(z) simulates the sound transmission characteristics of the secondary channel physical space from the actuator 15 to the receiving position, thereby improving the "silencing" effect of the control system 20.

[0107] like Figure 3 and Figure 4 As shown, in a specific example, the first signal r(n) is a white noise signal. (Comparison) Figure 3 and Figure 4 It can be seen that the frequency spectrum of the vibration signal emitted by the vehicle 10 changes significantly before and after the control system 20 is not activated. Figure 3 The image shows the spectrum of the vibration noise signal d(n) (or x(n)), from... Figure 3 It can be seen that before the control system 20 is started, the vehicle 10 continuously emits a noise signal d(n) (or x(n)) with stable spectral characteristics. Figure 4 The image shows roughly the spectrum of the first signal r(n) (i.e., the spectrum of the white noise signal), where the vibrational energy is basically uniformly distributed across the entire frequency range. Figure 4 It can be clearly seen that the vibration noise d(n) (or x(n)) is significantly suppressed.

[0108] Based on the above description, the active line spectrum suppression and intelligent sound generation control method according to this application includes:

[0109] The vibration noise x(n) of the vehicle is collected at the acquisition location to obtain the vibration reference signal s(n);

[0110] Generate the first signal r(n);

[0111] The vibration reference signal s(n) and the first signal r(n) are input into the sound filter M(z) to obtain the processed excitation signal u(n);

[0112] The first signal r(n) and the excitation signal u(n) are applied to the actuator 15;

[0113] The vibration signal from the actuator 15 and the vibration noise d(n) of the vehicle are received at the receiving position to obtain the second propagation signal t2(n);

[0114] The second propagation signal t2(n) is input (feedback) to the sound filter M(z);

[0115] The sound filter M(z) adaptively adjusts its own parameters so that the similarity between the second propagation signal t2(n) and the first signal r(n) reaches a predetermined similarity threshold.

[0116] According to the active line spectrum suppression and intelligent sound generation control method of this application, the functions of "active noise reduction" and "intelligent sound generation" can be realized simultaneously, thereby achieving the effect of concealing the aircraft.

[0117] According to the present application, the active line spectrum suppression and intelligent sound generation control system utilizes the principle of acoustic wave interference cancellation, combined with modern digital signal processing technology, to reduce underwater radiated noise by actively controlling the vibration of the vehicle's structure, thus achieving active sound suppression. Based on the active control of structural vibration, the active line spectrum suppression and intelligent sound generation control system actively emits a first signal by calling upon underwater characteristic line spectrum databases of other ships or underwater organisms. This signal drives the vibration of the vehicle's structure (e.g., actuators) to intelligently control the acoustic signature characteristics of underwater radiated noise, achieving intelligent sound generation. The active sound suppression and intelligent sound generation functions are implemented using a single control system, resulting in a more compact hardware structure and a more significant control effect.

[0118] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application.

[0119] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. An active line spectrum suppression and intelligent sound generation control method for a spacecraft, characterized in that, include: The vibration noise of the vehicle is collected at the acquisition location to obtain a vibration reference signal; Generate the first signal; The vibration reference signal and the first signal are input into the sound filter to obtain the processed excitation signal; The first signal and the excitation signal are applied to the execution device; The vibration signal of the actuator and the vibration noise of the vehicle are received at the receiving position to obtain the second propagation signal; The second propagation signal is input into the sound filter; The sound filter adaptively adjusts its parameters so that the similarity between the second propagation signal and the first signal reaches a predetermined similarity threshold.

2. The active line spectrum suppression and intelligent sound generation control method according to claim 1, characterized in that, The sound filter includes: A controllable filter, wherein the vibration reference signal is the input signal of the controllable filter, and the excitation signal is the output signal of the controllable filter; An additional filter, wherein the input signals of the additional filter are the first signal and the vibration reference signal, and the output signal of the additional filter is an additional filtered signal; and A filter controller is configured to receive the vibration reference signal, the second propagation signal, and the additional filtered signal, and adaptively adjust the parameters of the controllable filter according to the vibration reference signal, the second propagation signal, and the additional filtered signal, so that the similarity between the second propagation signal and the first signal reaches a predetermined similarity threshold.

3. The active line spectrum suppression and intelligent sound generation control method according to claim 2, characterized in that, The filter controller is configured to adaptively adjust the parameters of the controllable filter using the least mean square criterion.

4. The active line spectrum suppression and intelligent sound generation control method according to claim 2, characterized in that, The additional filter includes a bandpass filter whose center frequency is the characteristic frequency of the vibration noise of the aircraft.

5. The active line spectrum suppression and intelligent sound generation control method according to claim 4, characterized in that, The sound filter further includes a secondary channel model filter, which is a simulation model of the sound transmission characteristics in the physical space from the actuator to the receiving position. The vibration reference signal is filtered by the secondary channel model filter and then input to the controllable filter. The additional filter also includes the secondary channel model filter, in which the bandpass filter is connected in series with the secondary channel model filter.

6. The active line spectrum suppression and intelligent sound generation control method according to any one of claims 1 to 5, characterized in that, The data acquisition location is set at the vibration isolation device of the vehicle; and / or The receiving position is located on the outer shell of the vehicle.

7. An active line spectrum suppression and intelligent sound generation control system for a spacecraft, characterized in that, include: The first sensor is used to collect the vibration noise of the vehicle at the acquisition location to obtain a vibration reference signal. ； The first signal generation module is used to generate the first signal; A sound filtering module is used to receive and process the vibration reference signal and the first signal to obtain a processed excitation signal; An actuator is configured to receive the first signal and the excitation signal, and to vibrate under the action of the first signal and the excitation signal; The second sensor is used to receive the vibration signal of the actuator and the vibration noise of the vehicle at the receiving position to obtain the second propagation signal; The sound filtering module is further configured to receive the second propagation signal and to adaptively adjust its own parameters so that the similarity between the second propagation signal and the first signal reaches a predetermined similarity threshold.

8. The active line spectrum suppression and intelligent sound generation control system according to claim 7, characterized in that, The sound filtering module includes: A controllable filtering module, wherein the vibration reference signal is the input signal of the controllable filtering module, and the excitation signal is the output signal of the controllable filtering module; An additional filtering module, wherein the input signals of the additional filtering module are the first signal and the vibration reference signal, and the output signal of the additional filtering module is an additional filtered signal; and A filter control module is configured to receive the vibration reference signal, the second propagation signal, and the additional filter signal, and adaptively adjust the parameters of the controllable filter module according to the vibration reference signal, the second propagation signal, and the additional filter signal, so that the similarity between the second propagation signal and the first signal reaches a predetermined similarity threshold.

9. The active line spectrum suppression and intelligent sound generation control system according to claim 8, characterized in that, The filter control module controller is configured to adaptively adjust the parameters of the controllable filter module using the least mean square criterion.

10. The active line spectrum suppression and intelligent sound generation control system according to claim 8, characterized in that, The additional filtering module includes a bandpass filter module, which uses the characteristic frequency of the vibration noise of the aircraft as its center frequency.

11. The active line spectrum suppression and intelligent sound generation control system according to claim 10, characterized in that, The sound filtering module further includes a secondary channel model filtering module, which is a simulation model of the sound transmission characteristics of the physical space from the actuator to the receiving position. The vibration reference signal is filtered by the secondary channel model filtering module and then input to the controllable filtering module. The additional filtering module also includes the secondary channel model filtering module, in which the bandpass filtering module and the secondary channel model filtering module are connected in series.

12. The active line spectrum suppression and intelligent sound generation control system according to any one of claims 7 to 11, characterized in that, The data acquisition location is set at the vibration isolation device of the vehicle; and / or The receiving position is located on the outer shell of the vehicle.

13. The active line spectrum suppression and intelligent sound generation control system according to any one of claims 7 to 11, characterized in that, The first sensor and the second sensor are vibration sensors; and / or The actuator is a loudspeaker.

14. A type of aircraft, characterized in that, The active line spectrum suppression and intelligent sound generation control system according to any one of claims 7 to 13, wherein the vibration noise of the vehicle originates from the vehicle's power system and / or auxiliary equipment.

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