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    Sound field reproduction applied to flightvehicles sound environments

    Cedric Camier1, Philippe-Aubert Gauthier1, Yann Pasco1, and Alain Berry1

    1Universit e de Sherbrooke, Sherbrooke, Quebec, J1K 2R1, Canada

    Correspondence should be addressed to Cedric Camier ([email protected])

    ABSTRACT

    This paper proposes a preliminary theoretical study for sound field and sound environment reproduction inflight vehicles. A fully-coupled cavity, cylindrical shell and exterior radiation model approximates an aircraftcabin mock-up. Material and geometry charateristics are inspired by measurements perfomed on a cabinmock-up. The sound field reproduction is based on reproduction error minimization at a microphone arraypositionned in the cavity. Two reproduction systems, based on actuators or loudspeakers are simulated in

    order to compare their feasability and performance. The model linking excitator strength with the soundpressure on the spatially extended array region is developped in a matricial form. The promising resultsobtained in terms of reproduced pressure in the array region in both cases presume the reliability of suchdedicated systems.

    1. INTRODUCTIONSince the first spatial sound experiments [1], [2], interest

    in spatial audio had continuously increased over the past

    century [3]. Beside applications to music reproduction

    and film presentation, spatial sound has recently gained

    the attention from the transport industry for flight simula-

    tors and as a potential sound quality evaluation or designtool. This paper presents a preliminary theoretical study

    for sound field and sound environment reproduction in

    mock-ups of aircraft cabins.

    Since the 1970s, several works have been devoted to the

    reproduction or synthesis of exterior and interior noises

    of flight vehicles [4]-[7]. Most of these works are primar-

    ily devoted to the evaluation of sound quality and annoy-

    ance of vehicle noises without any in-depth consideration

    of the spatial distribution of sound. However, it is known

    that the spatial distribution of sound sources plays an im-

    portant role in auditory stream segregation. Indeed, spa-

    tial separation of sources reduces masking. Hence, thespatial distribution of sound should be addressed in cur-

    rent work on sound environment reproduction for sound

    quality testing or virtual rendering of flight scenarios in

    flight vehicle mock-ups and flight simulators. Recent re-

    search works go in that direction [8], [9].

    1.1. Spatial audio and sound environment re-productionMost of the recent research works on spatial audio using

    multichannel systems are based on few dominant tech-

    nologies: stereophonic sound fundamentals extended to

    Surround sound systems [2], Ambisonics [10] and

    wave field synthesis (WFS) [11]. Each of which re-

    lies on different perceptual and technological hypothe-

    sis. Among these technologies, Ambisonics and WFS

    are perhaps the twos that have the greatest potential forpsychophysically valid sound environment reproduction.

    Ambisonics have already been use for soundscape re-

    production [12]. Since these types of sound field repro-

    duction systems are normally used in more or less well

    controlled listening rooms, it has been argued that room

    response may degrade the sound field reproduction sys-

    tem ability to physically recreate and approach the tar-

    get sound field [13], [14]. Several researchers have then

    addressed the spatial room compensation problem [15]-

    [22]. The great challenge behind these room compen-

    sation methods stands in the requirement that the real

    acoustic of the listening room must be replaced by a vir-

    tual or target acoustic which have been computed or mea-sured in an acoustic space different from the listening

    room.

    1.2. Sound rendering of interior vehicle noisein vehicle mock-upsIn contrast with generic applications mentioned above,

    sound environment or sound field reproduction in ve-

    hicle mock-ups brings different challenges and some-

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    Camier et al. Sound field reproduction in aircraft

    how simplifies the room compensation issues. Firstly,

    the highest quality vehicle sound environment reproduc-

    tion system would not only involve a sound system, buta vehicle mock-up which is visually, mechanically and

    geometrically very similar to the real vehicle. More-

    over, reproduction sources (either acoustical or vibra-

    tional) should be invisible to the listener. Accordingly,

    it is expected that the original vehicle and corresponding

    mock-up should have a similar, or at least a similar type

    of, vibroacoustical behavior. Therefore, room compen-

    sation could be more easily applied to that practical case

    since the difference between the two systems are greatly

    diminished. This have the potential to diminish residual

    artifact. Secondly, since many transport applications of

    spatial sound are concerned by the physically valid re-

    construction of sound field, a closed-loop room compen-sation is mandatory to ensure and physically certify that

    the reproduced sound field is a physical reconstruction

    of the original sound field. Indeed, such spatial sound

    systems could not rely on the illusory creation of an au-

    ditory scene such as achieved in the audio industry since

    it might have to be certified by various agencies, such as

    for flight simulators or aircraft sales. Thirdly, most of the

    major interior noises are stationary or nearly stationary

    (turbulent boundary layer, engine, jet, etc. [23]) so that

    any room compensation residual artifact such as pre- and

    post-echoes should be inaudible. These three prelimi-

    nary hypothesis motivate the interest of room compensa-tion for flight vehicles sound environment reproduction.

    The purpose of this paper is to evaluate the feasibility

    of sound field reproduction based on room compensa-

    tion using a simplified theoretical model of an aircraft

    cabin and mock-up. Several scenarios are compared on

    the basis of different reproduction source types: vibra-

    tional sources on the cabin structure or acoustical sources

    located in the cabin cavity.

    1.3. Paper outlineSection 1 introduces the general problem and formu-

    lates the main research question addressed in this paper.

    Section 2 describes the fully-coupled cavity, cylindri-

    cal shell and exterior radiation model that approximates

    an aircraft cabin and mock-up. The spatially-extended

    sound field reproduction method based on reproduction

    error minimization is presented in Sec. 3. Simulations

    and numerical results are presented and discussed in

    Sec. 4. Section 6 gathers the main concluding remarks

    and presents future research avenues.

    2. CAVITY, SHELL AND EXTERNAL SOUNDFIELD COUPLED MODEL

    The vibroacoustic model developped in the followingwill be used both for simulating the image pressure field

    and establishing the inverse model used in reproduction.

    It considers a baffled closed cylindrical shell radiating to

    interior and exterior spaces. The coupling between the

    movement of the shell and the resulting external radia-

    tion is taken into account as well as the internal coupling

    with the closed acoustic cavity. For the sake of concise-

    ness, key points of the model are presented in the sequel.

    Full expressions of calculous will be detailed in a future

    paper.

    2.1. Geometry of the system

    As shown in Fig. 1, the 3-component vector displace-mentu of the cylindrical shell at a given point Q of co-

    ordinates (r= a,,z) is described by its longitudinal, cir-cumferential and radial displacements,u,vandwrespec-tively, along the surfaceSof the shell. At an other point

    Bwhich could be situated in the internal volume Vi or in

    the external volumeVe, both filled by air of density 0and characterized by the sound phase speed c, the acous-

    tic pressure is noted p.

    2.2. Vibroacoustic modelThe dynamic of the thin cylindrical shell closed by shear

    diaphragms at both ends is governed by the Donnell-

    Mushtari theory, referred in [24]. The shell displace-ment vector discretized onto its in vacuo natural modes

    nwrites:

    u(,z) =

    n=1

    Ann(,z) (1)

    whereAn is the nth shell modal amplitude and n the set

    of modal indexes which refers to nodes in the radial

    and circumferential directions and to symmetry type.

    Each shell mode shape is normalized with respect to the

    modal mass mn and is associated to non-dimensional

    natural pulsationnwhich is given by Leissa [24].

    The vibrating shell, immersed into an air-filled open

    space, creates an acoustical radiation which interacts

    with its own movement. This coupling could be de-

    scribed as an intermodal coupling impedance between

    the shell modes [25]. Thanks to an assumption of

    infinite-long cylinder, the radiation could be expressed

    analytically and then the projection on the finite-long

    surface leads to analytical coupling coefficients of the

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    Camier et al. Sound field reproduction in aircraft

    impedance. This useful approximation has been dis-

    cussed and justified for similar configurations [26]-[28].

    Expression of this impedance is not given here but thecoupling would be represented in matrix form in the fol-

    lowing.

    The shell internal volume Vi, also air-filled, is the seat

    of an internal coupling between the shell and the closed

    acoustical cavity. Besides, it is our region of interest

    since the interior sound field would be the target of repro-

    duction. Inside the internal volume, the complex sound

    pressure field p(r,,z)is expressed as a linear combina-tion of real rigid-wall cavity modes m(r,,z)[27].

    p(r,,z) =

    m=1

    Pmm(r,,z) (2)

    wherePmis themth complex cavity modal amplitude and

    m a set of modal indexes which refers to the 3 direc-

    tions of space and to the symmetry type. The cavity

    mode shapes are normalized with respect to the modal

    volume Vm and associated to m which are analyticallyexpressed in [27]. The expressions of coupling coeffi-

    cients between shell modes and cavity modes are also

    analytically known [27]; nevertheless, as the previous

    mentionned coupling, one will expressed them in matrix

    form only.

    Thus, the complete vibroacoustic model written for har-monic excitations in terms of modal co-ordinates is:

    C(cav) D(cav,sh)

    D(sh,cav) C(sh)

    C

    P(cav)

    A(sh)

    =

    F(cav)

    F(sh)

    (3)

    whereA(sh) andP(cav) are composed of the co-ordinates

    Anand Pmof the truncated mode families {n}n[1,N]and

    {m}m[1,M], respectively. The diagonal matrix C(cav)

    is populated by the squared rigid-wall cavity natural

    pulsations (where the imaginary part gives the modal

    damping) substracted from the squared excitating pul-

    sation2, D(sh,cav) andD(cav,sh) express the internal vi-broacoustic coupling described above whereas the non-

    diagonal matrix C(sh) compiles the orthogonal movement

    of the shell only plus the external intermodal coupling

    via radiation. F(cav) and F(sh) are the generalized force

    expanded onto the cavity mode shapes{m}m[1,M] andonto the shell mode shapes{n}n[1,N] respectively. For

    the particular case of harmonic monopole sources char-

    acterized by their source strength q(cav)i (,ri,i,zi), and

    harmonic ponctual forces defined by surface force den-sityq

    (sh)l (,l ,zl ), each elementn and m of the twofold

    generalized force vector writes:

    F(cav)

    m =i

    c2

    Vij0q

    (cav)i m(ri,i,zi) (4)

    and

    F(sh)

    n =l

    q(sh)l

    (r)n (l ,zl )

    mn(5)

    with jthe imaginary number and (r)n the radial compo-

    nent of

    n.Considering a virtual array ofN(m) microphones measur-

    ing the acoustic pressurep(rep) at thex(m) spatial points

    in Vi produced by a serie q(rep) of N(ac) acoustic and

    N(st) structural excitators such as described before, the

    response of the complete system is resumed by the fol-

    lowing equation:

    p(rep) = 0

    C1

    P1 00 P2

    Z(ma)

    q(rep)

    (6)where P1 and P2 denote the matricial expressions of

    Eq. (4) and (5) respectively.

    3. SOUND FIELD CONTROLThe sound field reproduction system is posed as an error

    minimization task. The reproduction error at the micro-

    phone array is given by

    e(x(m),) =p(im)(x(m),)p(rep)(x(m),) (7)

    wherep(im) components are the target or measured com-

    plex sound pressures at the error microphones in x(m),

    p(rep) components are the complex reproduced soundpressures at the microphones, these vectors are N(m) 1vectors for a reproduction system made of the N(m) er-

    ror microphones. The reproduced sound field is resumed

    from Eq. (6) in

    p(rep) =Z(ma)(x(m),x(a),)N(m)(N(ac)+N(st))q

    (rep) (8)

    where the reproduction system frequency response func-

    tions from reproduction sources (point forces on the shell

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    Camier et al. Sound field reproduction in aircraft

    Fig. 1: Geometrical convention for the cavity and thin

    shell model.

    and monopole inside the cylindrical cavity) to error mi-

    crophones are stored in Z(ma)). This complex trans-

    fer matrix includes the shell, the cavity, their coupling

    and the external coupling dynamics. The reproduction

    source amplitudes (force or acoustical source strength)

    are stored in q(rep), a (N(ac) +N(st)) 1 vector. Sub-

    scripts indicate matrix dimensions. A cost function withTikhonov regularization is introduced to summarize the

    reproduction task for which the reproduction errorse(m)

    (Eq. (7)) should be minimized [30], [31]

    J=e(m)H

    e(m) +2q(rep)H

    q(rep) (9)

    where H denotes Hermitian transposition, is the pe-nalization parameter. The optimal reproduction source

    complex amplitudes q(rep) that will minimize J is given

    by [31]

    q(rep)opt =

    Z(ma)H

    p(im)

    Z(ma)H

    Z(ma) +2I (10)

    whereI is the identity matrix. In the following section,

    these equations are used for the simulation of stationary

    and harmonic sound field reproduction in a specific cav-

    ity and shell configuration which corresponds to a real

    cabin mock-up at our laboratory.

    4. SIMULATIONS AND RESULTSThe aim of the following simulations is to draw the out-

    lines of the feasibility and the evalutation of reproduc-

    20 40 60 80 1000

    200

    400

    600

    800

    Naturalfrequency[Hz]

    No

    Fig. 2: Natural frequency [Hz] (), sorted in ascending

    order, of the rigid-wall cavity and of the coupled system

    (). Schroeder frequency [29] of the rigid-wall cavity isrepresented by a horizontal dash-dot line and excitation

    frequencies of the two simulations presented (98 Hz and

    300 Hz) are plotted in plain lines.

    tion systems of a stationary external noise source includ-

    ing structural actuators or acoustic excitators close to the

    trim panel (here modeled by the shell). Typical simula-

    tions will thus involve an exterior plane wave excitating

    the dynamic model described in Sec. 2 and virtual mea-surements of the interior sound field by a microphone ar-

    ray located in the listening plane of the simplified mock-

    up. With the help of the control method presented in

    Sec. 3 performed on the virtual measurements, complex

    amplitudes of excitators are deduced to reproduce the tar-

    get sound field. Then, the error between image sound

    field (virtually defined in this paper) and reproduction er-

    ror is evaluated.

    One considers a unitary plane wave of pulsation im-pinging perpendicularly on the shell. The total sound

    pressure results in the sum of the incident and the scat-

    tered wave field [32]. Similarly to the case of ponctualstructural forces in Sec. 2, the total pressure on the shell

    surface is projected onto the shell modes to be injected

    asF(sh) in Eq. (3), then in Eq. (2), in order to obtain the

    target image pressurep(im) at the microphone array.

    Mechanical characteristics and geometrical dimensions

    are inspired from measurements performed in a real

    mock-up. Particularly, structural damping is computed

    from the measured reverberation times. Configuration

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    Camier et al. Sound field reproduction in aircraft

    of the microphone array, actuator positions and speaker

    positions have been choosen with respect to fabrication

    considerations and in anticipation of the experimentalset-up constraints. Futhermore, one opts for the num-

    ber of microphones to be equal to the number of repro-

    duction sources in order to have a determined system.

    Thus, the microphone array is a a/6 side-length squarecomposed of 88 regularly distributed microphones, the64-actuator systemwill denote 2 rows of 232 equally-spaced structural excitators placed on the intersection of

    the cylinder with the mid-height plane or with the lis-

    tening plane. The listening plane 64-speaker systemwill

    denote 34 equally-spaced radiating monopoles on the lat-

    eral edges of the plane combined with 30 equally spaced

    monopoles at the ends, see Figs 4, 5, 7 and 8.

    TypicalZ(ma) response is computed for one geometrical

    and mechanical configuration of the mock-up. Following

    results in terms of inside pressure field correspond to two

    simulations computed for the same excitating plane wave

    except from the selected pulsation. Three factors have

    governed our choice of excitation frequency: truncations

    of modal bases (to avoid prohibited computation cost),

    eigen-frequencies of the coupled system (which guide

    the response of the system in low frequency range) and

    Schroeder frequency (which is an estimation of the tran-

    sition from modal behavior to a diffuse behavior (more

    than 3 excited modes for a single frequency)). As shown

    in Fig. 2, the first excitation frequency is chosen to corre-spond to one of the first eigen-value of the coupled sys-

    tem, below the Schroeder frequency. The second one is

    situated just above the Schroeder frequency. In fact, to

    choose a higher frequency imposes a higher truncation

    order in modal bases to insure the convergence of the

    solution and so a higher computational cost [31]. The

    compromise is arbitrary made to be around 100 modes

    forNas well as for M.

    Fig. 3 and Fig. 6 show the image sound field produced

    by an exterior harmonic scattering plane wave of fre-

    quency f =98 Hz and f =300 Hz, respectively, im-

    pinging on the shell in thex2 axis direction. The printedsound field is thus the complex interior acoustic response

    of the vibro-acoustic system which consists in the trun-

    cated summation of real modal shapes weighted by the

    complex cavity modal amplitudes. As the whole sys-

    tem is linear and the excitation is unitary, the visualized

    sound field could be directly scaled with any excitation

    amplitude.

    For each two cases of excitation, Figs. 4, 5, 7 and 8

    present the results of the sound field reproduced by the

    two excitator configurations. In order to evaluate the

    quality of reproduction at microphone array location, rel-ative quadratic errors defined by

    e(m)q =

    e(m)H

    e(m)

    p(m)H

    p(m), (11)

    where p(m) =p(im)(x(m),), is computed. Similarly to

    this expression, the quadratic errore(LP)q computed on the

    whole listening plane will be given.

    5. DISCUSSION OF THE RESULTSThe first general remark which has to be made is on the

    dimension of the image pressure fields in the cavity. Due

    to the unitary exterior acoustical excitation, the soundamplitude inside the system is very low. It shows the

    large-scale relation between exterior and interior sound

    for a model dimensionned on measurements on a real

    mock-up. Nevertheless, as the complete system is linear,

    the physical phenomena of reproduction are well repre-

    sented. Secondly, the choice of parameter of regulariza-

    tionis not motivated here, this study being not the pur-pose of this paper. One has just to note that for each case,

    has been adjusted to reproducecorrectlyboth the pres-sure at the microphone array and the pressure field in the

    listening plane. A future publication will provide a study

    dedicated to this parameter.

    For this particular study, one observes that the inverse

    method is capable of global reproduction by minimiza-

    tion of the error on a discrete local area. In spite of small

    differences in the pressure field shapes, the two systems

    of reproduction provide similar performances in terms of

    relative quadratic errors. Nonetheless, the speaker con-

    figuration produce generally rougher field shape (with

    higher slopes) than the actuator configuration. Contrary

    to structural excitations of whom the amplitudes result

    in the projection on smoother mode shapes in this range

    of frequencies, the acoustical excitations involve more

    rough acoustic mode shapes because of the strong cou-

    pling with rigid-wall cavity modes which are numerousin the considered frequency range. Because of the mode-

    coupling involved in the inverse method, the global shape

    of the contributions of the acoustical excitators and con-

    sequently the global shape of the reproduced pressure

    field will show more spatial variations compared to the

    actuator configuration for a given truncation.

    Preliminary, these first feasability results including the

    two specific reproduction systems dedicated to simplified

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    Camier et al. Sound field reproduction in aircraft

    Fig. 3: Image sound field P(im) created inside the sys-

    tem with a unitary scattering harmonic plane wave of

    frequency 98 Hz. Grey surface plotted according to the

    x1 axis in the cylinder represents the scaled pressure inthe listening plane. Pression at the microphone array ()

    is also scaled. The pressure scaling factor is equal to

    2.091013 Pa.

    Fig. 4: Sound field P(rep) reproduced by the 64-actuator

    system for an exterior harmonic plane wave of frequency

    98 Hz. An acoustical response of actuators on the shell

    is given by Eqs. (5) and (6). Origins of stems indicatethe 2-row locations of actuators. Their positive () ornegative () amplitudesq(rep) oriented towardsx1for thetop-row and towardsx1 for the bottom-row are scaledby 0.7035 N to fit in the graph. The scaling factor isthe same as the respective image field. Quadratic error

    computations givee(m)q =0.067 ande

    (LP)q =0.41.

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    Camier et al. Sound field reproduction in aircraft

    Fig. 5: Sound fieldP(rep) reproduced by the 64-speaker

    system for an exterior harmonic plane wave of frequency

    98 Hz. Radiation of speakers is modelized by acoustical

    reproduction sources (see Eqs. (4) and (6)). Origins ofstems indicate locations of speakers. Their amplitudes

    ()q(rep) are scaled by 5.31791016 m.s1 to fit in thegraph. The pressure scaling factor is the same as the re-

    spective image field plot. Quadratic error computations

    givee(m)q =0.044 ande

    (LP)q =0.54.

    Fig. 6: Image sound field P(im) created inside the sys-

    tem with a unitary scattering harmonic plane wave of fre-

    quency 300 Hz. Grey surface plotted according to thex1

    axis in the cylinder represents the scaled pressure in thelistening plane. Pression at the microphone array () is

    also scaled. The sound pressure scaling factor is equal to

    1.9061014 Pa.

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    Camier et al. Sound field reproduction in aircraft

    aircraft space are encouraging. Without any optimization

    work, they provide good local reproduction results for

    the two examplified excitation frequencies: 1) below theSchroeder frequency where the cavity response is dom-

    inated by a modal behavior and 2) above the Schroeder

    frequency.

    6. CONCLUSIONConsidering the recent gain of interest of transport in-

    dustry for spatial sound, the present paper has proposed

    a theoretical formulation of a dedicated sound field re-

    produced system applied to a simplified model of flight

    aircraft space dimensionned on basis of measurements

    in a real mock-up. A complete vibroacoustic model in-

    cluding external and internal coupling expanded on the

    shell and the rigid-wall cavity modes is used in the in-verse problem. The spatially-extended sound field re-

    production method using Tikhonov regularization mini-

    mizes the-dependent cost function. Two specific repro-duction systems have been simulated in order to evaluate

    their efficiency. The first represented lateral trim-panel

    actuator system and the second represented enclosing

    loudspeaker system. Both of which show good perfor-

    mance for the local reproduction and are capable of quite

    good global reproduction by ajusting the regularization

    parameter.

    Recasting these results within the framework of the

    project, they provide good expectations for the pratical

    method we will use for the reproduction of external-noise

    induced sound field in the cabin. Indeed, the Z(ma) ma-

    trix characterizing the vibroacoustic model will be later

    computed from measurements in the real system submit-

    ted to reproduction excitation and obtained with a mi-

    crophone array (presently under construction at GAUS

    laboratory). The microphone array would then be re-

    moved and the image pressure field would be reproduced

    by the method described in Sec. 3 for a chosen reproduc-

    tion source set-up . The approach using inverse method

    is in our case justified by the type of source signals we

    want to reproduce. In fact, for nearly stationary soundssuch as most of the flying aircraft noises, room compen-

    sation and equalization residual artifact such as pre- or

    post-echoes should be inaudible.

    This preliminary study raises some expectations which

    will be questionned in a near future. As a first prospec-

    tive, effect ofon reproduction error at the microphonearray and in the listening plane should be the object of a

    parametric study. More generally, an optimization of the

    excitator positions, a more refined vibroacoustic model

    computed on a broadband fitting responses of real cabin

    mock-up should be the main lines of future work.

    7. ACKNOWLEDGMENTThe authors would like to aknowledge Eric Chambatte

    for the measurement of mock-up reverberation times.

    This work is part of a project involving: Consortium for

    Research and Innovation in Aerospace in Quebec, Bom-

    bardier Aeronautique, CAE, Universite de Sherbrooke

    and McGill University, supported by a Natural Sciences

    and Engineering Research Council of Canada grant.

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