Self-adaptive compensation method, device and equipment for pipeline active noise control and medium

Abstract

The invention provides a self-adaptive compensation method, device and equipment for pipeline active noise control and a medium, and relates to the technical field of pipeline noise compensation, and the method comprises the steps: taking an error signal and an output signal of an FxLMS control system as input quantities of a Lyapunov self-adaptive law, carrying out the calculation of the self-adaptive law, and outputting an updated value, according to the invention, the reference microphone is used as the input of the Lyapunov controller, and the reference signal collected by the reference microphone and the output signal of the FxLMS control system are combined to carry out compensation operation processing, so that the online adaptive feed-forward compensation is realized, and the problem that the noise reduction effect is reduced due to the influence of acoustic feedback is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline noise compensation, and in particular to an adaptive compensation method, device, equipment and medium for active pipeline noise control. Background Art

[0002] ANC (Active Noise Cancellation) is a noise reduction function achieved through electronic technology. Currently, there are three main solutions to solve the acoustic feedback problem of ANC on the market: the first is the reference signal pickup method, which improves the noise reduction effect by reasonably arranging reference sensors; the second is the feedback neutralization method, which establishes a compensation filter to offset the acoustic feedback sound wave, but this may introduce stability problems; the third is the filter-U algorithm, which has low computational complexity and a well-matched compensator, but it is difficult to ensure the convergence of the ANC system.

[0003] In view of this, this application is filed. Summary of the invention

[0004] The present invention provides an adaptive compensation method, device, equipment and medium for active pipeline noise control, which can at least partially improve the above-mentioned problems.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] An adaptive compensation method for active pipeline noise control, comprising:

[0007] Acquire primary noise sound waves and acoustic feedback sound waves, and obtain reference microphone signals according to the primary noise sound waves and acoustic feedback sound waves;

[0008] Using a Lyapunov adaptive controller to adaptively process the reference microphone signal to generate a compensated reference signal;

[0009] The compensated reference signal is input as an input to the FxLMS control system for preprocessing to generate an updated output signal;

[0010] The updated output signal is subjected to anti-noise processing, and the output signal after anti-noise processing is emitted as an anti-noise wave by the secondary speaker of the ANC device, and the anti-noise wave passes through the secondary channel and the acoustic feedback channel in sequence to update the secondary sound wave and the acoustic feedback sound wave;

[0011] According to the noise sound wave generated after the primary noise sound wave passes through the main channel and the secondary sound wave obtained after the anti-noise sound wave emitted by the secondary speaker passes through the secondary path, the error microphone signal is updated, and the adaptive law is updated according to the updated error microphone signal and the updated output signal;

[0012] Repeat the above adaptive processing, preprocessing, and updating steps until the difference between the error microphone signal and 0 is less than a preset value, and use the output signal obtained by this round of calculation as the final output signal.

[0013] The present invention also provides an adaptive compensation device for active pipeline noise control, which comprises:

[0014] A reference microphone signal generating unit, used to obtain a primary noise sound wave and an acoustic feedback sound wave, and obtain a reference microphone signal according to the primary noise sound wave and the acoustic feedback sound wave;

[0015] A compensation unit, configured to adaptively process the reference microphone signal using a Lyapunov adaptive controller to generate a compensated reference signal;

[0016] an output signal generating unit, configured to input the compensated reference signal as an input into the FxLMS control system for preprocessing to generate an updated output signal;

[0017] The anti-noise unit is used to perform anti-noise processing on the updated output signal, and the output signal after anti-noise processing is emitted as an anti-noise wave by the secondary speaker of the ANC device, and the anti-noise wave passes through the secondary channel and the acoustic feedback channel in sequence to update the secondary sound wave and the acoustic feedback sound wave;

[0018] An updating unit, configured to update an error microphone signal according to a noise wave generated after the primary noise wave passes through a main channel and a secondary sound wave obtained after the anti-noise wave emitted by the secondary speaker passes through a secondary path, and to update an adaptive law according to the updated error microphone signal and the updated output signal;

[0019] The loop unit is used to repeat the above-mentioned adaptive processing, preprocessing, and updating steps until the difference between the error microphone signal and 0 is less than a preset value, and the output signal obtained by this round of calculation is used as the final output signal.

[0020] The present invention also provides an adaptive compensation device for active pipeline noise control, which includes: a memory and a processor, wherein a computer program is stored in the memory, and the computer program can be executed by the processor to implement the adaptive compensation method for active pipeline noise control as described in any one of the above.

[0021] The present invention also provides a computer-readable storage medium storing a computer program, wherein the computer program can be executed by a processor of a device where the computer-readable storage medium is located to implement the adaptive compensation method for active pipeline noise control as described in any one of the above.

[0022] In summary, the adaptive compensation method for active pipeline noise control is based on the ANC model of adaptive feedforward compensation of the Lyapunov-FxLMS algorithm. The model theoretically derives a feedforward adaptive compensation controller with Lyapunov stability guarantee by combining the error signal and secondary signal of the standard FxLMS model. It can adaptively compensate the primary noise sound wave affected by the secondary acoustic feedback, thereby reducing the impact of the acoustic feedback sound wave. A pipeline ANC test device based on the Arduino DUE development board is provided, and the advantages of the proposed ANC algorithm in terms of convergence speed and stability are verified through experiments. The present invention provides key methods and hardware support for improving the acoustic feedback problem of pipeline noise control, which is of great significance to the development of the field of active noise control. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flow chart of the adaptive compensation method for active pipeline noise control provided by the first aspect of the present invention;

[0024] Figure 2 is a flow chart of an adaptive compensation method for active pipeline noise control provided by the second aspect of the present invention;

[0025] Figure 3 is a schematic diagram of a pipeline ANC device provided by a first embodiment of the present invention;

[0026] Figure 4 It is a module schematic diagram of an adaptive compensation device for active pipeline noise control provided by the second embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] refer to Figure 1 , Figure 2 As shown, the first embodiment of the present invention discloses an adaptive compensation method for active noise control of a pipeline, which can be executed by an adaptive compensation device for active noise control of a pipeline (hereinafter referred to as compensation device), and in particular, by one or more processors in the compensation device to implement the following method:

[0029] S1, obtaining a primary noise sound wave and an acoustic feedback sound wave, and obtaining a reference microphone signal according to the primary noise sound wave and the acoustic feedback sound wave;

[0030] Specifically, step S1 includes: obtaining the primary noise sound wave X n (b);

[0031] Get the acoustic feedback sound wave X after passing through the acoustic feedback channel in the PVC pipe f (b);

[0032] The primary noise sound wave X n (b) and the acoustic feedback sound wave X f (b) Add and obtain the reference microphone signal x(n).

[0033] In this embodiment, the primary noise signal passes through the pipe of the PVC device to obtain the primary noise sound wave X n (b).

[0034] S2, using a Lyapunov adaptive controller to adaptively process the reference microphone signal to generate a compensated reference signal;

[0035] Specifically, step S2 includes: using a Lyapunov adaptive controller to adaptively process the reference microphone signal x(n) to generate a compensated reference signal u(n), and the calculation formula is: u(n) = -K P (n)y(n)+K U (n)x(n), where K p (n) is the adaptive law, y(n) is the output signal, the output signal y(n) is initially 0, K U (n) = 1;

[0036] Among them, the adaptive law K P The first derivative formula of (n) is: Where λ is the weight coefficient and e(n) is the error microphone signal.

[0037] S3, taking the compensated reference signal as input, inputting it into the FxLMS control system for preprocessing, and generating an updated output signal;

[0038] Specifically, step S3 includes: inputting the compensated reference signal u(n) into the FxLMS control system for preprocessing to update the output signal y(n), and the calculation formula is: Where N is the filter length, W i (n)=[W0(n),W1(n),W2(n),W3(n),…,W N-1 (n)] is the filter tap weight coefficient, u(ni) = [u(n), u(n-1), u(n-2), u(n-3), ..., u(n-N+1)] is the input vector corresponding to the filter, W T (n) is the transposed tap weight coefficient vector, T represents the transposition;

[0039] Wherein, W(n+1)=W(n)+2μe(n)u(n), W(n+1) is the updated value of the tap weight coefficient vector W(n), W(n) is the tap weight coefficient vector, and μ is the fixed step size factor;

[0040] e(n)=d(n)+p(n), d(n) is the anti-noise sound wave of the secondary speaker after passing through the secondary passage, and p(n) is the noise sound wave after passing through the primary passage in the pipe.

[0041] In this embodiment, the compensation calculation formula u(n)=-K P (n)y(n)+K U In (n)x(n), since the acquisition reference signal itself is unknown, we set K U =1, and then through the adaptive law After integration and combining with the output signal y(n) solved by the standard FxLMS algorithm, the compensated signal u(n) is solved and used as the reference signal input of the FxLMS model to form an adaptive compensation algorithm.

[0042] Among them, through the standard FxLMS algorithm formula W(n+1)=W(n)+2μe(n)u(n), e(n)=d(n)+p(n), d(n) performs adaptive control on pipeline noise. Based on the output signal y(n) solved by the standard FxLMS algorithm and the signal e(n) collected by the error sensor, the adaptive compensation equation is realized The weight coefficient is λ.

[0043] S4, performing anti-noise processing on the updated output signal, and sending an anti-noise wave from the output signal after anti-noise processing through the secondary speaker of the ANC device, and the anti-noise wave passes through the secondary channel and the acoustic feedback channel in sequence to update the secondary sound wave and the acoustic feedback sound wave;

[0044] See also Figure 3 Preferably, the pipeline ANC device includes a PVC pipe with an oblique tee, a noise source speaker, a secondary sound source speaker, a reference microphone sensor, an error microphone sensor, two amplifiers, and two low-pass filters.

[0045] S5, updating the error microphone signal according to the noise sound wave generated after the primary noise sound wave passes through the main channel and the secondary sound wave obtained after the anti-noise sound wave emitted by the secondary speaker passes through the secondary path, and updating the adaptive law according to the updated error microphone signal and the updated output signal;

[0046] Specifically, step S5 includes: obtaining the noise sound wave p(n) in the current pipeline after passing through the primary channel;

[0047] Adding the noise sound wave p(n) in the pipeline after passing through the primary channel and the sound wave d(n) of the secondary speaker anti-noise sound wave after passing through the secondary path to obtain an error microphone signal e(n);

[0048] According to the error microphone signal e(n) and the updated output signal y(n), the adaptive law K is recalculated. P (n), in order to calculate the output signal y(n) of the next round.

[0049] S6, repeat the above adaptive processing, preprocessing, and updating steps until the difference between the error microphone signal and 0 is less than a preset value, and use the output signal obtained by this round of calculation as the final output signal.

[0050] In this embodiment, in the Lyapunov-FxLMS model of the adaptive compensation method for active pipeline noise control, as the reference signal e(n) collected by the error sensor goes from zero to zero during the adaptive compensation process of noise control, the adaptive compensation will gradually weaken, and finally a more accurate reference noise signal u(n) will be obtained after compensation, thereby effectively improving the convergence speed and stability of pipeline noise control.

[0051] In this embodiment, Figure 3 The invention also includes an Arduino DUE hardware and a computer in which the adaptive compensation method of the active noise control of the pipeline is stored. Figure 3 The device further tests the performance of the adaptive compensation method for active noise control of the pipeline. When the noise cancellation test is carried out in the PVC pipeline, the primary noise sound wave generated by the main noise source S1 is detected by the reference microphone M1, and after passing through the low-pass filter and ADC conversion, it is collected by the Arduino DUE circuit board. The secondary signal generated by the algorithm calculation loaded on the circuit board is converted by the DAC and the amplifier to drive the secondary speaker S2 to emit an anti-noise wave. This anti-noise wave has the same amplitude and opposite phase as the primary noise sound wave, thereby achieving noise reduction at the end of the pipeline. At the same time, the error signal after noise reduction is collected by the error microphone M2, and after passing through the low-pass filter and ADC conversion, it enters the Arduino DUE circuit board again for algorithm calculation. When the error microphone signal e(n) collected by the error microphone M2 approaches 0, it indicates that the adaptive compensation method for active noise control of the pipeline can effectively reduce the impact of the acoustic feedback problem.

[0052] In short, through this verification, it is confirmed that the adaptive compensation method of pipeline active noise control is effective in solving the acoustic feedback problem in pipeline noise control, thereby improving the noise reduction performance and stability of pipeline active noise control.

[0053] Specifically, in this embodiment, the optimization principle of the Lyapunov adaptive compensation controller for the standard FxLMS algorithm is as follows: Figure 2 As shown. In the process of active noise control of pipelines, secondary acoustic feedback will cause the collected reference noise signal to be inaccurate, thereby reducing the convergence speed and stability of noise control. In order to solve this problem, an adaptive law compensation equation based on the stability of the Lyapunov function was designed through theoretical derivation. This design combines the measurable reference microphone signal x(n), the error microphone signal e(n) and the output signal y(n) of the standard FxLMS algorithm, thereby realizing algorithm optimization within the circuit. In this way, the impact of acoustic feedback can be effectively reduced and the performance of noise control can be improved.

[0054] In summary, the adaptive compensation method for active pipeline noise control based on the ANC model of the Lyapunov-FxLMS algorithm has significant advantages in solving the pipeline acoustic feedback problem. Compared with the three existing solutions, this model not only accelerates the convergence speed of noise control, but also improves the system stability. At the same time, the adaptive compensation method for active pipeline noise control improves the standard FxLMS algorithm and provides a low-cost and efficient pipeline noise control test solution based on the Arduino DUE device.

[0055] See also Figure 4 The second embodiment of the present invention provides an adaptive compensation device for active pipeline noise control, which includes:

[0056] A reference microphone signal generating unit 201 is used to obtain a primary noise sound wave and an acoustic feedback sound wave, and obtain a reference microphone signal according to the primary noise sound wave and the acoustic feedback sound wave;

[0057] A compensation unit 202, configured to adaptively process the reference microphone signal using a Lyapunov adaptive controller to generate a compensated reference signal;

[0058] An output signal generating unit 203 is used to input the compensated reference signal as an input to the FxLMS control system for preprocessing to generate an updated output signal;

[0059] The anti-noise unit 204 is used to perform anti-noise processing on the updated output signal, and the output signal after anti-noise processing is emitted as an anti-noise wave by the secondary speaker of the ANC device, and the anti-noise wave passes through the secondary channel and the acoustic feedback channel in sequence to update the secondary sound wave and the acoustic feedback sound wave;

[0060] An updating unit 205 is used to update the error microphone signal according to the noise sound wave generated after the primary noise sound wave passes through the main channel and the secondary sound wave obtained after the anti-noise sound wave emitted by the secondary speaker passes through the secondary path, and update the adaptive law according to the updated error microphone signal and the updated output signal;

[0061] The loop unit 206 is used to repeat the above-mentioned adaptive processing, preprocessing, and updating steps until the difference between the error microphone signal and 0 is smaller than a preset value, and the output signal obtained by this round of calculation is used as the final output signal.

[0062] A third embodiment of the present invention provides an adaptive compensation device for active noise control of a pipeline, comprising: a memory and a processor, wherein a computer program is stored in the memory, and the computer program can be executed by the processor to implement the adaptive compensation method for active noise control of a pipeline as described in any one of the above.

[0063] A fourth embodiment of the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program can be executed by a processor of a device where the computer-readable storage medium is located, so as to implement the adaptive compensation method for active noise control of a pipeline as described in any one of the above.

[0064] Exemplarily, the above-mentioned devices and process steps can be implemented by a computer program. The computer program can be divided into one or more units. The one or more units are stored in the memory and executed by the processor to complete the present invention.

[0065] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0066] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the present invention by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0067] Wherein, if the electronic device or printer integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0068] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0069] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. An adaptive compensation method for active pipeline noise control, characterized in that: include: Acquire primary noise sound waves and acoustic feedback sound waves, and obtain reference microphone signals according to the primary noise sound waves and acoustic feedback sound waves; Using a Lyapunov adaptive controller to adaptively process the reference microphone signal to generate a compensated reference signal; The compensated reference signal is input as an input to the FxLMS control system for preprocessing to generate an updated output signal; The updated output signal is subjected to anti-noise processing, and the output signal after anti-noise processing is emitted as an anti-noise wave by the secondary speaker of the ANC device, and the anti-noise wave passes through the secondary channel and the acoustic feedback channel in sequence to update the secondary sound wave and the acoustic feedback sound wave; According to the noise sound wave generated after the primary noise sound wave passes through the main channel and the secondary sound wave obtained after the anti-noise sound wave emitted by the secondary speaker passes through the secondary path, the error microphone signal is updated, and the adaptive law is updated according to the updated error microphone signal and the updated output signal; Repeat the above adaptive processing, preprocessing, and updating steps until the difference between the error microphone signal and 0 is less than a preset value, and use the output signal obtained by this round of calculation as the final output signal.

2. The adaptive compensation method for active pipeline noise control according to claim 1, characterized in that: Acquire primary noise sound waves and acoustic feedback sound waves, and obtain reference microphone signals according to the primary noise sound waves and acoustic feedback sound waves, specifically: Get primary noise sound wave X n (b); Get the acoustic feedback sound wave X after passing through the acoustic feedback channel in the PVC pipe f (b); The primary noise sound wave X n (b) and the acoustic feedback sound wave X f (b) Add and obtain the reference microphone signal x(n).

3. The adaptive compensation method for active pipeline noise control according to claim 2, characterized in that: The reference microphone signal is adaptively processed using a Lyapunov adaptive controller to generate a compensated reference signal, specifically: The reference microphone signal x(n) is adaptively processed using a Lyapunov adaptive controller to generate a compensated reference signal u(n), and the calculation formula is: u(n) = -K P (n)y(n)+K U (n)x(n), where K P (n) is the adaptive law, y(n) is the output signal, the output signal y(n) is initially 0, K U (n) = 1; Among them, the adaptive law K P The first derivative formula of (n) is: Where λ is the weight coefficient and e(n) is the error microphone signal.

4. The adaptive compensation method for active pipeline noise control according to claim 3, characterized in that: The compensated reference signal is used as input to the FxLMS control system for preprocessing to generate an updated output signal, specifically: The compensated reference signal u(n) is input into the FxLMS control system for preprocessing to update the output signal y(n). The calculation formula is: Where N is the filter length, W i (n)=[W0(n),W1(n),W2(n),W3(n),…,W N-1 (n)] is the filter tap weight coefficient, u(ni) = [u(n), u(n-1), u(n-2), u(n-3), ..., u(n-N+1)] is the input vector corresponding to the filter, W T (n) is the transposed tap weight coefficient vector, T represents the transposition; Wherein, W(n+1)=W(n)+2μe(n)u(n), W(n+1) is the updated value of the tap weight coefficient vector W(n), W(n) is the tap weight coefficient vector, and μ is the fixed step size factor; e(n)=d(n)+p(n), d(n) is the anti-noise sound wave of the secondary speaker after passing through the secondary passage, and p(n) is the noise sound wave after passing through the primary passage in the pipe.

5. The adaptive compensation method for active pipeline noise control according to claim 4, characterized in that: According to the noise sound wave generated after the primary noise sound wave passes through the main channel and the secondary sound wave obtained after the anti-noise sound wave emitted by the secondary speaker passes through the secondary path, the error microphone signal is updated, and according to the updated error microphone signal and the updated output signal, the adaptive law is updated, specifically: Get the noise sound wave p(n) in the current pipeline after passing through the primary channel; Adding the noise sound wave p(n) in the pipeline after passing through the primary channel and the sound wave d(n) of the secondary speaker anti-noise sound wave after passing through the secondary path to obtain an error microphone signal e(n); According to the error microphone signal e(n) and the updated output signal y(n), the adaptive law K is recalculated. P (n), in order to calculate the output signal y(n) of the next round.

6. The adaptive compensation method for active pipeline noise control according to claim 1, characterized in that: The pipeline ANC device includes a PVC pipeline with an oblique tee, a noise source speaker, a secondary sound source speaker, a reference microphone sensor, an error microphone sensor, two amplifiers, and two low-pass filters.

7. An adaptive compensation device for active pipeline noise control, characterized in that: include: A reference microphone signal generating unit, used to obtain a primary noise sound wave and an acoustic feedback sound wave, and obtain a reference microphone signal according to the primary noise sound wave and the acoustic feedback sound wave; A compensation unit, configured to adaptively process the reference microphone signal using a Lyapunov adaptive controller to generate a compensated reference signal; an output signal generating unit, configured to input the compensated reference signal as an input into the FxLMS control system for preprocessing to generate an updated output signal; The anti-noise unit is used to perform anti-noise processing on the updated output signal, and the output signal after anti-noise processing is emitted as an anti-noise wave by the secondary speaker of the ANC device, and the anti-noise wave passes through the secondary channel and the acoustic feedback channel in sequence to update the secondary sound wave and the acoustic feedback sound wave; An updating unit, configured to update an error microphone signal according to a noise wave generated after the primary noise wave passes through a main channel and a secondary sound wave obtained after the anti-noise wave emitted by the secondary speaker passes through a secondary path, and to update an adaptive law according to the updated error microphone signal and the updated output signal; The loop unit is used to repeat the above-mentioned adaptive processing, preprocessing, and updating steps until the difference between the error microphone signal and 0 is less than a preset value, and the output signal obtained by this round of calculation is used as the final output signal.

8. An adaptive compensation device for active pipeline noise control, characterized in that: The invention comprises a memory and a processor, wherein a computer program is stored in the memory, and the computer program can be executed by the processor to implement the adaptive compensation method for active noise control of a pipeline according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: A computer program is stored, and the computer program can be executed by a processor of the device where the computer-readable storage medium is located to implement the adaptive compensation method for active noise control of a pipeline as claimed in any one of claims 1 to 6.

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