JP2010255791A - Method and device of controlling vibration control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To exhibit an active vibration control function even if an earthquake occurs. <P>SOLUTION: By a control theory part 16, a command value U1 is generated for driving a movable mass so as to control the vibration of a vibration control object structure by an actuator 5 of a vibration control device 14 so as to be reciprocated. An amplitude and a phase becoming the same values as the actual displacement of reciprocating motion when driving the movable mass by the command value U1 are determined by a characteristic evaluation part 17 of a vibration control device control system. Next. after calculating the displacement of the movable mass in time before a required time than a response of the actual displacement of the movable mass by a foreseeing control part 18, a gain for controlling the movable mass in an allowable stroke range of the vibration control device 14 is determined based on a peak value of the displacement of the movable mass in a range up to a time before the required time by an automatic gain control part 19. Afterwards, a command value provided by multiplying a command value generated by the control theory part 16 in a gain factor processing part 20 by a rate of the gain is imparted to the actuator 5 of the vibration control device 14, and the movable mass is driven so as to be reciprocated. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention is installed in a ground structure such as a tower of a building or a suspension bridge, or other required vibration control target structure, and a movable mass is reciprocated by a required actuator according to the vibration of the vibration control target structure. The present invention relates to a control method and apparatus for an active vibration damping device that performs vibration damping of the above-described structure to be controlled.

  One of the damping devices of the mass damper type that has been proposed as a damping device to quickly attenuate the amplitude and vibration when the above-mentioned various ground structures are shaken by wind load or earthquake. There is a shaker.

  This type of mass damper type damping device is provided with a movable mass of the required mass on the upper part of the structure to be damped such as the above-mentioned various ground structures so as to be able to reciprocate along the direction in which damping is desired. In this configuration, the movable mass is reciprocated according to the vibration of the structure to be damped, and the structure to be damped is damped, and the movable mass is reciprocated. , Passive type (passive type) which is made to perform naturally using the mechanical balance with the structure to be controlled, and active type which reciprocates the movable mass using externally supplied energy It is roughly divided into things.

  Furthermore, as the active vibration damping device, an active type and a hybrid type are known.

  FIG. 3 shows a concept of the device configuration of the above-described active vibration damping device. A movable mass (damping body) 2 that is a weight of a required mass is placed on the vibration damping target structure 1. The structure 1 is mounted so as to be able to reciprocate in the horizontal direction via the guide rail 3 in parallel with the direction in which the structure 1 shakes. Further, a support frame 4 is provided on the vibration-damping target structure 1 on one end side in the moving direction of the movable mass 2, and an electric or hydraulic motor is provided between the support frame 4 and the movable mass 2. A required actuator 5 for reciprocating the movable mass 2 along the guide rail 3 by a cylinder or the like is provided. Furthermore, a vibration detection sensor 6 for detecting the vibration of the vibration control target structure 1 and a control device 7 for giving a drive command to the actuator 5 based on an input signal from the vibration detection sensor 6 are provided. As a configuration.

  According to an active vibration control device having such a configuration, when the vibration detection sensor 6 detects a vibration of the structure 1 to be controlled, the control device 7 immediately issues a drive command to the actuator 5, The actuator 5 causes the movable mass 2 to rapidly reciprocate with a phase delay of 90 degrees with respect to the vibration of the vibration control target structure 1, thereby causing the inertial force of the movable mass 2 to the vibration control target structure 1. By acting, it is possible to suppress the vibration of the structure 1 to be controlled.

  4 shows the concept of the device configuration of the hybrid vibration damping device. In the same structure as the active vibration damping device shown in FIG. 3, the support frame 4 and the movable mass 2 In addition to the actuator 5, a spring element 8 for setting the natural frequency of the reciprocating movement of the movable mass 2 and a damper element 9 for damping the kinetic energy of the movable mass 2 are interposed. It is set as the structure provided. Other configurations are the same as those shown in FIG. 3, and the same components are denoted by the same reference numerals.

  According to a hybrid vibration damping device having such a configuration, when vibration is generated in the vibration control target structure 1, the vibration energy of the vibration control target structure 1 is reduced by the presence of the spring element 8 and the damper element 9. Since the movable mass 2 can be automatically and reciprocally moved with a phase delay of 90 degrees with respect to the vibration of the structure 1 to be controlled, the active mass damping device and In addition to obtaining the same vibration damping function, it is said that the supply energy required when the movable mass 2 is reciprocally driven by the actuator 5 can be reduced.

  In the above-described hybrid vibration damping device, another configuration for enabling the movable mass 2 to reciprocate using the vibration energy of the vibration-damping target structure 1 is mechanical. Instead of the spring element 8, the movable mass is suspended from a required frame, and the bottom surface of the movable mass is formed into an arc shape with a required radius of curvature or a V-shape with a required angle. As a configuration in which the movable mass is swingably mounted on two support rollers disposed at a predetermined interval on the structure to be oscillated, it is also conceivable that the movable mass is made to vibrate like a pendulum. Yes.

  By the way, in the active vibration damping device using the movable mass 2, the allowable stroke (allowable amplitude) when the movable mass 2 is reciprocally driven (including single-string vibration) is naturally limited.

  For this reason, in order to sufficiently exhibit the vibration damping capability in the active vibration damping device, it is advantageous to move the movable mass with the largest possible stroke within the allowable stroke range.

  Therefore, when using the above active vibration control device as a vibration control target structure for a high-rise ground structure such as a high-rise building or a suspension bridge tower, in order to suppress vibration due to the wind load, For example, in consideration of the magnitude of acceleration that is considered to act on the structure to be controlled by wind load in the past year, when the largest acceleration of the acceleration acting by the wind load acts, It is preferable to optimally design the gain of the command given from the control device to the actuator so that the amplitude of the movable mass 2 becomes the maximum amplitude within the allowable stroke range.

  However, even if the gain of the command given from the control device to the actuator is optimally designed, under the condition that the gain is constant, it seems that the structure to be controlled has not been affected by the typhoon in the past year. When acceleration due to a large wind load is applied, the stroke of the movable mass 2 becomes larger than the allowable stroke so that the movable mass 2 collides with a stopper (not shown) provided at the end of the guide rail 3. There is a concern that

  Furthermore, since an extremely large acceleration is applied to the structure to be damped compared to the wind load during an earthquake, the stroke of the movable mass 2 is also applied in this case under the condition that the gain is constant. There is a concern that may easily deviate from the allowable stroke.

  Therefore, the gain can be continuously variably controlled so that the possibility that the amplitude of the movable mass 2 exceeds the allowable stroke range can be prevented even if the external force acting on the vibration control target structure 1 increases. As a control device of a vibration control device (vibration control device) for this purpose, as shown in FIG. 5, the vibration of the structure to be controlled is converted into kinetic energy of a movable mass (weight) 2 reciprocated by an actuator (motor) 5 In a control device for a certain type of vibration damping device, the accelerometer 10 that detects the vibration of the structure to be controlled and the amplitude of the weight is calculated based on the signal detected by the accelerometer 10. A displacement command calculator 11 that detects a peak value within a set period or set time of a calculation result by the displacement command calculator 11 and automatically calculates a gain based on the peak value to calculate the actuator (mode). ) A control device for a vibration control device (vibration control device) including an automatic gain calculator 12 that sends a control command to an actuator unit (motor drive device) 13 that drives 5 has been proposed (see, for example, Patent Document 1). ).

Japanese Patent Laid-Open No. 7-12174

However, response characteristics (amplitude characteristics and phase characteristics) when the actuator 5 is controlled by the control device 7 of the active type vibration damping device shown in FIG. 3 or the hybrid type shown in FIG. 4 are generally shown in FIG. Even if a displacement command (input) for setting the amplitude of the movable mass 2 to a certain value is given from the control device 7 to the actuator 5, the actual displacement (output) of the movable mass 2 is shown. ) Causes a delay as the frequency f increases, so when the movable mass 2 is actually vibrated at a frequency synchronized with the natural frequency f ₀ of the building as the structure to be controlled, The value of the amplitude ratio (output / input) may be lower than 1.0, for example, about 0.7.

  However, in the conventional method for continuously variably controlling the gain as shown in FIG. 5, the vibration suppression detected by the accelerometer 10 without taking into account the response characteristics of the control system of the vibration suppression device as described above. A predetermined set period or set time for the amplitude of the movable mass (weight) calculated by the displacement command calculator 11 based on the vibration detection signal of the target structure, that is, the amplitude corresponding to the displacement command (input) described above. The actual situation is that the peak value is directly detected and the gain is changed so that the stroke of the movable mass (weight) falls within the stroke limit range based on the peak value.

  For this reason, when the actuator 5 is controlled by the control device as described above, the value of the amplitude ratio (output / input) of the output with respect to the input actually becomes smaller than 1.0. Even if the actuator 5 is driven by the control command after the change, the gain of the displacement command is changed so that the stroke of the movable mass (weight) falls within the stroke limit range at the time of the control command. In addition to this, since the amplitude ratio (output / input) of the movable mass is reduced due to the response characteristic of the control system of the vibration damping device, the stroke (amplitude) when the movable mass 2 is actually driven. However, since it becomes significantly smaller than the stroke limit range (allowable stroke range), the allowable stroke range of the movable mass 2 on the structure of the vibration damping device is fully utilized. Not completely, is the actual situation is that the best damping effect has not been demonstrated.

  Furthermore, the conventional method for continuously variably controlling the gain as shown in FIG. 5 is based on the past predetermined set period or the amplitude of the movable mass (weight) calculated by the upper displacement command calculator 11. The peak value within the set time is detected, and the gain is changed so that the stroke of the movable mass (weight) 2 falls within the stroke limit range based on the peak value. When a very large acceleration is input to the structure to be controlled in a short time and it is unclear how much acceleration will be input, the displacement command calculator 11 The gain is set so that the stroke of the movable mass (weight) 2 falls within the stroke limit range even if the peak value within the predetermined predetermined period or set time in the past of the calculated amplitude of the movable mass (weight) 2 is referred to. Can change enough Therefore, if a large acceleration due to an earthquake is newly input to the above structure to be controlled in a short time, the actual situation is that the possibility that the movable mass (weight) reaches the stroke limit range cannot be avoided. It is.

  For this reason, even with a vibration control device that employs a technique for continuously variably controlling the gain as described above, a large acceleration (large input) is applied to the structure to be controlled in a short time, such as when an earthquake occurs. When acting, there is a concern that sufficient vibration damping performance may not be secured, so the vibration damping device that has been conventionally used to suppress the vibration due to the wind load of the structure subject to vibration damping is not used during an earthquake. In other words, in the case of a hybrid type, a measure to switch the movable mass 2 to a passive type that passively reciprocates according to the vibration of the structure 1 to be controlled is taken. The fact is that it must be picked.

  Therefore, the present invention can sufficiently move the movable mass within the allowable stroke range of the movable mass in the active vibration damping device, and efficiently and reliably exhibit the best vibration damping performance for the active vibration damping device. In addition, even if a large acceleration acts on the structure to be controlled in a short time when an earthquake occurs, it is possible to prevent the movable mass from deviating from the allowable stroke range. In addition, it is intended to provide a control method and a device for a vibration damping device that can exhibit the vibration damping function as an active vibration damping device and that can also exhibit the best vibration damping effect even with respect to the back shake. is there.

  In order to solve the above-mentioned problem, the present invention is to provide a movable mass of a vibration damping device for reciprocating driving with a phase delay of 90 degrees with respect to a vibration of a structure to be controlled by an actuator, corresponding to claim 1. When it is assumed that the movable mass displacement command value is generated based on the required control theory, and then the movable mass is reciprocated by the command value by evaluating the response characteristics of the control system of the vibration damping device. The amplitude and phase of the same value as the actual displacement of the reciprocating motion of the movable mass to be generated, and then, based on the time series change of the amplitude and phase of the same value as the actual displacement of the reciprocating motion of the movable mass, After calculating the displacement of the movable mass at the time point ahead of the required time than the response of the actual displacement that will occur in the movable mass, find the peak value of the displacement of the movable mass in the range up to the calculated required time ahead, Based on the peak value, The gain for enabling the stroke of the actual displacement of the movable mass to be controlled within the allowable stroke range is obtained, and then the ratio for narrowing the amplitude of the movable mass by this gain is set to the command value for the displacement of the movable mass. The vibration damping device control method is such that a command value derived by applying to the actuator is applied to the actuator of the vibration damping device.

  According to a second aspect of the present invention, there is provided a movable mass placed on the damping object structure so as to be able to reciprocate along the direction in which the damping object structure is oscillated, and a reciprocating drive of the movable mass. In a control apparatus for a vibration damping device comprising a required actuator, a movable mass for reciprocally driving the movable mass of the vibration damping device with a phase delay of 90 degrees with respect to the vibration of the structure to be controlled by the actuator. By evaluating the response characteristic of the control system of the vibration damping device and the control theory unit that generates the displacement command value based on the required control theory, the movable mass is driven back and forth by the command value generated by the control theory unit. Then, the characteristic evaluation unit of the vibration damping device control system for obtaining the same amplitude and phase as the actual displacement of the reciprocating motion of the movable mass, which will occur when assumed, and the characteristic evaluation unit of the vibration damping device control system Of the movable mass A foreseeing control unit that calculates the displacement of the movable mass at a time point ahead of the response of the actual displacement that will occur in the movable mass, based on the time-series change of the amplitude and phase of the same value as the actual displacement of the backward movement And calculating the peak value of the displacement of the movable mass within the range up to the required time calculated by the foreseeing control unit, and allowing the stroke of the actual displacement of the movable mass in the damping device based on the peak value. By multiplying the command value generated by the control theory unit by an automatic gain control unit for obtaining a gain for enabling control within the stroke range, and a ratio for narrowing down the amplitude of the movable mass by the automatic gain control unit, A control device for a vibration damping device having a configuration including a gain coefficient processing unit that calculates a command value to be given to the actuator of the vibration damping device.

According to the present invention, the following excellent effects are exhibited.
(1) Based on the required control theory, a movable mass displacement command value for causing the movable mass of the vibration damping device to reciprocate with a phase delay of 90 degrees with respect to the vibration of the structure to be damped by the actuator is generated. Next, by evaluating the response characteristics of the control system of the vibration damping device, the same value as the actual displacement of the reciprocating motion of the movable mass that occurs when it is assumed that the movable mass is reciprocated by the command value. Obtain the amplitude and phase, and then, based on the time-series change of the amplitude and phase of the same value as the actual displacement of the movable mass reciprocating, the time required ahead of the response of the actual displacement that will occur in the movable mass. After calculating the displacement of the movable mass at the time point, the peak value of the displacement of the movable mass is obtained in the range up to the calculated required time, and based on the peak value, the actual mass of the movable mass in the vibration damping device is calculated. Allow displacement stroke A gain for enabling control within the roke range is obtained, and then a command value derived by multiplying the command value of the displacement of the movable mass by a ratio for narrowing down the amplitude of the movable mass by this gain, Since the vibration damping device is controlled to be applied to the actuator of the vibration damping device, the movable mass is reciprocally driven by the actuator according to the vibration of the vibration damping target structure by the vibration damping device. When performing vibration damping, the movable mass can be reciprocated within a permissible stroke range with a larger stroke than when performing conventional automatic gain control. Therefore, the above-described vibration damping device can exhibit the best vibration damping performance as an active vibration damping device efficiently and reliably.
(2) Further, when it is assumed that the movable mass of the vibration damping device is reciprocated by the command value generated based on the required control theory, the response of the actual displacement of the reciprocating motion that is generated in the movable mass. The amplitude of the movable mass in the range up to the required time ahead is estimated, and the peak value of the amplitude estimated prior to the actual displacement of the movable mass is within the allowable stroke range of the movable mass of the vibration control device. Therefore, even when a large acceleration is applied to the structure subject to vibration suppression in a short time, such as when an earthquake occurs, the stroke when reciprocating the movable mass by the actuator is allowed. It is possible to prevent the possibility that the stroke range becomes excessive.
(3) Therefore, the active vibration damping device to which the vibration damping device control method of the present invention is applied can reciprocate the movable mass within the allowable stroke range by the actuator even when an earthquake occurs. In addition to being able to exhibit the vibration damping function as an active vibration damping device, it is possible to expect an effect that makes it possible to exert the best vibration damping effect against the post-earthquake shaking.
(4) Provided with a movable mass placed on the vibration control target structure so as to reciprocate along the direction in which the vibration control target structure swings, and a required actuator for reciprocating the movable mass. In the vibration damping device control apparatus, a movable mass displacement command value for causing the movable mass of the vibration damping device to reciprocate with a phase delay of 90 degrees with respect to the vibration of the structure to be controlled by an actuator is required. Occurs when it is assumed that the movable mass is reciprocally driven by the command value generated by the control theory unit by evaluating the response characteristics of the control theory unit generated based on the control theory and the control system of the vibration control device. The characteristic evaluation unit of the damping device control system for obtaining the same amplitude and phase as the actual displacement of the reciprocating motion of the movable mass, and the reciprocating motion of the movable mass obtained by the characteristic evaluation unit of the damping device control system. Same as actual displacement Based on the time-series change of the amplitude and phase of the value, a foreseeing control unit that calculates the displacement of the movable mass at a time point ahead of the response of the actual displacement that will occur in the movable mass, The peak value of the displacement of the movable mass is obtained in the range up to the calculated required time, and the stroke of the actual displacement of the movable mass in the vibration damping device can be controlled within the allowable stroke range based on the peak value. By applying the automatic gain control unit for obtaining a gain to reduce the amplitude of the movable mass by the automatic gain control unit to the command value generated by the control theory unit, to the actuator of the vibration damping device A damping device control method having the effects (1), (2), and (3) above is provided by providing a damping device control device having a configuration including a gain coefficient processing unit that calculates a given command value. Fruit A structure of an apparatus for can be easily realized.

It is a schematic diagram showing one embodiment of a control method and device of a vibration damping device of the present invention. 1A and 1B show the effects of the control method and apparatus of FIG. 1, wherein FIG. 1A is a diagram showing a time history response of the amplitude of a movable mass of a vibration damping device, and FIG. 1B is a comparison when conventional automatic gain control is performed. It is a figure which shows the time-history response of the amplitude of the movable mass of the damping device in. It is a conceptual diagram of an active type active damping device. It is a conceptual diagram of a hybrid type active vibration control device. It is a figure which shows the technique conventionally proposed in order to perform automatic gain control and to keep the amplitude of a movable mass in the allowable stroke range, even if there is a big input in the structure to be controlled. It is a schematic diagram showing a servo characteristic when a movable mass is reciprocated by an actuator based on a command from a control device.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 shows an embodiment of a method and apparatus for controlling a vibration damping device according to the present invention. Like the one shown in FIG. 3, the direction in which the vibration damping target structure 1 swings on the vibration damping target structure 1. The movable mass 2 placed so as to be able to reciprocate horizontally in parallel with the actuator, the required actuator 5 for reciprocating the movable mass 2, and the vibration detection for detecting the vibration of the structure 1 to be controlled An example of application to control of an active vibration damping device 14 including a sensor 6 is shown as follows.

  That is, the control device 15 of the vibration damping device of the present invention used for carrying out the method of controlling the vibration damping device of the present invention includes a control theory unit 16, a characteristic evaluation unit 17 of the vibration control device control system, and a prediction control unit 18. As a configuration comprising an automatic gain control unit 19, a gain coefficient processing unit 20, and a limiter 21, a displacement command value U5 of the movable mass 2 (see FIG. 3) is given to the actuator 5 of the vibration damping device 14. It has a function.

  Hereinafter, the control method of the vibration damping device of the present invention will be described in accordance with the processing contents by each component of the control device 15 of the present invention.

  The control theory unit 16 includes a vibration response a of the vibration suppression target structure 1 (see FIG. 3) detected by the vibration detection sensor 6 when a required acceleration is input to the vibration suppression target structure 1, and is movable. When the displacement response b of the movable mass 2 is input from the actuator 5 that reciprocally drives the mass 2 (see FIG. 3), the required mass is applied to the movable mass 2 of the vibration damping device 14 by applying the required control theory. A command value U1 of the displacement of the movable mass 2 to be given to the actuator 5 is generated in order to rapidly reciprocate with a phase delay of 90 degrees with respect to the shaking of the object 1. As a control theory for generating the displacement command value U1 of the movable mass 2, any control theory may be employed.

  The characteristic evaluation unit 17 of the vibration damping device control system includes a vibration damping device similar to that shown in FIG. 6 with respect to the control system of the vibration damping device 14 to be actually controlled by the vibration damping device control device 15 of the present invention. When data relating to response characteristics (amplitude characteristics, phase characteristics) of the control system is provided in advance, and the command value U1 generated by the control theory unit 16 is input, the command value U1 is converted to the actuator of the vibration damping device 14. 5, when the movable mass 2 (see FIG. 3) is assumed to reciprocate, the amplitude characteristic and the phase characteristic, which are the response characteristics of the control system of the vibration damping device 14 similar to those shown in FIG. The influence is evaluated, and a command value U2 converted into the same amplitude and phase as the actual displacement of the reciprocating motion that occurs in the movable mass 2 is generated. Thus, the command value U2 generated by the control theory unit 16 has an output amplitude ratio (output / input) of 1 to the input as shown in FIG. 6 which has the response characteristic of the control system of the vibration damping device 14. Due to the amplitude characteristic of less than 0.0, the amplitude becomes smaller than the command value U1 generated by the control theory unit 16, and the phase characteristic of the response characteristic of the control system of the vibration damping device 14 Thus, a phase lag occurs with respect to the command value U1 generated by the control theory unit 16.

  When the command value U2 generated by the characteristic evaluation unit 17 of the damping device control system is input to the prediction control unit 18, the command value U2 uses the command value U1 generated by the control theory unit 16. When it is assumed that the movable mass 2 (see FIG. 3) is reciprocally driven by being supplied to the actuator 5 of the vibration damping device 14, the amplitude and phase of the same value as the actual displacement of the reciprocating motion that occurs in the movable mass 2 Therefore, on the basis of the time-series change in the amplitude and phase of the command value U2, for example, the time required rather than the response of the actual displacement that occurs in the movable mass 2 by the operation of differentiating the command value U2. First, for example, the displacement (amplitude) of the movable mass 2 at a time point that is a quarter cycle ahead is calculated, and this value is generated as the command value U3. Thus, according to the command value U3 generated by the foreseeing control unit 18, the command value U1 generated by the control theory unit 16 is given to the actuator 5 of the vibration damping device 14 so as to move the movable mass 2 (see FIG. 3). ) Is reciprocally driven, the displacement (amplitude) of the movable mass 2 can be estimated in a range up to 1/4 cycle of the actual displacement of the reciprocating motion that will occur in the movable mass 2. Become.

  When the command value U3 generated by the prediction control unit 18 is input, the automatic gain control unit 19 receives the command value U1 generated by the control theory unit 16 estimated from the command value U3 from the present time. Up to ¼ period ahead of the actual displacement of the reciprocating motion that occurs in the movable mass 2 when it is assumed that the movable mass 2 (see FIG. 3) is reciprocally driven by being supplied to the actuator 5 of the vibration damping device 14. In this range, the peak value of the displacement (amplitude) of the movable mass 2 is obtained, and based on the peak value, the stroke of the movable mass 2 in the vibration damping device 14 can be controlled within the allowable stroke range. The necessary command value U4 is generated by automatically changing the gain.

  The gain coefficient processing unit 20 divides the command value U4 input from the automatic gain control unit 19 by the command value U3 input from the prediction control unit 18, thereby narrowing the gain by the automatic gain control unit 19. The ratio (U3 / U4) is obtained, and a command value U5 is generated by multiplying the ratio (U3 / U4) by the command value U1 input from the control theory unit 16.

  When the command value U5 is input from the gain coefficient processing unit 20, the limiter 21 saturates the command value U5 with a predetermined value set in advance (becomes a peak), and the vibration damping device It outputs to 14 actuators 5. Thereby, the possibility that an excessive command value is input to the actuator 5 of the vibration damping device 14 can be eliminated.

  Here, the effect of the processing by the control method and apparatus of the vibration damping device of the present invention having the above configuration will be described with reference to numerical examples of amplitude.

  As an example, an input of a required acceleration is generated in the vibration suppression target structure 1 (see FIG. 3), and the vibration response a of the vibration suppression target structure 1 and the displacement response b of the movable mass 2 are the above control theory unit. 16, the required control theory is applied by the control theory unit 16, and the movable mass 2 of the vibration damping device 14 is rapidly reciprocated with a phase delay of 90 degrees with respect to the vibration of the structure 1 to be controlled. It is assumed that the maximum amplitude of the displacement command value U1 of the movable mass 2 generated for the purpose is 100 cm, and the response ratio of the movable mass (see FIG. 3) to the response characteristic of the control system of the vibration damping device 14 (output / Input) occurs with a coefficient of 0.7, and when the allowable stroke of the movable mass 2 in the vibration damping device 14 is 50 cm, the command value generated by the characteristic evaluation unit 17 of the vibration damping device control system The maximum value of the amplitude in U2 is the value of the command value U1. To 100cm is large amplitude, a 70cm by multiplying the coefficient 0.7 of the amplitude ratio in response of the control system of the damping device 14.

  Next, in the foreseeing control unit 18, a command value representing the displacement (amplitude) of the movable mass 2 at a time point that is ¼ cycle ahead of the command value U <b> 2 generated by the characteristic evaluation unit 17 of the vibration damping device control system. Since U3 is generated, the maximum amplitude value in the command value U3 is 70 cm, which is the same as the maximum amplitude value in the command value U2.

  Next, the automatic gain control unit 19 uses the peak value (maximum value) of 70 cm in the command value U3 generated by the prediction control unit 18 as the peak value as the movable mass in the damping device 14. When the gain is set to 50/70 so that the allowable stroke of 2 is within 50 cm, the maximum value of the amplitude in the command value U4 generated by the automatic gain controller 19 is 70 · (50/70) = 50 cm. Become.

  Thereafter, in the gain coefficient processing unit, the command value U5 is generated by the process represented by the equation U5 = U1 · (U4 / U3), so that the maximum value of the amplitude of the command value U5 is 100 · (50/70) cm.

  Therefore, when the command value U5 is given to the actuator 5 of the vibration damping device 14, the vibration damping device 14 has an amplitude ratio (output / output) of the response characteristic of the control system of the vibration damping device 14 as described above. Input) occurs with a coefficient of 0.7, the maximum amplitude of the actual displacement of the movable mass 2 of the damping device 14 is 100 · (50/70) × 0.7 = 50 cm. Therefore, the movable mass 2 can be reciprocated by utilizing the entire allowable stroke range of the movable mass 2 in the vibration damping device 14 by the actuator 5 of the vibration damping device 14.

  On the other hand, based on the maximum value 100 cm of the amplitude of the command value U1 generated by the control theory unit 16 as in the prior art, this peak value is the allowable stroke of the movable mass 2 in the vibration damping device 14. By setting the gain to 50/100 so as to be within 50 cm, a command value with a maximum amplitude value of 100 · (50/100) = 50 cm is generated, and this is directly applied to the actuator 5 of the vibration damping device 14. In the vibration damping device 14, the amplitude ratio (output / input) of the movable mass 2 decreases in the response characteristic of the control system of the vibration damping device 14 with a coefficient of 0.7. The maximum amplitude of the actual displacement of the movable mass 2 is 50 × 0.7 = 35 cm, and the movable mass 2 can be reciprocated only with a stroke smaller than the allowable stroke of the movable mass 2 in the vibration damping device 14. There.

  As described above, according to the control method and apparatus of the vibration damping device of the present invention, the amplitude characteristic that the amplitude ratio of the output to the input in the response characteristic of the control system of the vibration damping device 14 is reduced is evaluated. 14, when a command value of the amplitude of a certain movable mass 2 (see FIG. 3) is input, based on the maximum value of the amplitude of the actual displacement that will occur in the movable mass 2 of the damping device 14, Since the gain can be automatically controlled so that the maximum value of the actual displacement amplitude of the movable mass 2 falls within the allowable stroke range of the vibration damping device 14, the vibration damping target structure 1 is controlled by the vibration damping device 14. (Refer to FIG. 3) When the movable mass 2 is reciprocally driven by the actuator 5 in response to the vibration to suppress the structure 1 to be controlled, the movable mass 2 is within the allowable stroke range compared to the conventional case. It can be reciprocated with a large stroke. That. This effect is shown in FIG. 2 with respect to the time history response waveform of the displacement of the movable mass 2 in the test conducted by the inventors using the actual device of the vibration damping device 14 employing the vibration damping device control method and device of the present invention. FIG. 2 is a time history response waveform of displacement of the movable mass 2 when the amplitude of the movable mass 2 in the result shown in (a) is variably controlled by a conventional method as a comparative example. It is also clear from the fact that the amplitude of the movable mass 2 in the result as shown in (b) is larger. 2A and 2B are the same except for the control device of the vibration damping device 14. FIG.

  Therefore, it is possible to cause the vibration damping device 14 to efficiently and reliably exhibit the best vibration damping performance as an active vibration damping device.

  Further, in the vibration damping device control method and apparatus of the present invention, the preview control unit 18 is provided, and the command control unit 18 generates the command value U1 generated by the control theory unit 16 in the vibration control device 14. When it is assumed that the movable mass 2 (see FIG. 3) is reciprocally driven by being supplied to the actuator 5, the reciprocation is 1/4 cycle ahead of the response of the actual displacement of the reciprocation that occurs in the movable mass 2. The displacement (amplitude) of the movable mass 2 is estimated in the range up to and the peak value of the displacement (amplitude) estimated prior to the actual displacement of the movable mass 2 is the allowable value of the movable mass 2 of the damping device 14. Since the gain coefficient processing unit 20 determines the gain so as to be within the stroke range, when a large acceleration acts on the vibration control target structure 1 (see FIG. 3) such as when an earthquake occurs in a short time. Even if there is a stroke of the movable mass 2 The fear that excessive relative volumes stroke range can be prevented.

  Therefore, the active vibration damping device 14 to which the vibration damping device control method and apparatus of the present invention is applied reciprocates the movable mass (see FIG. 3) within the allowable stroke range by the actuator 5 even when an earthquake occurs. The vibration control function as an active vibration control device can be exerted, and the best vibration control effect can be exhibited even after the above-mentioned earthquake shaking. it can.

  The present invention is not limited to the above-described embodiment, and may be applied to any type of active type or hybrid type active damping device as long as it is an active damping device. .

  The maximum value of the amplitude of the movable mass 2 (see FIG. 3) in each of the command values U1, U2, U3, U4, U5 described in the embodiment of FIG. 1, the allowable stroke range of the vibration damping device 14, the gain value, and The amplitudes and periods shown in FIGS. 2A and 2B are examples, and may be appropriately changed according to the structure to be controlled 1 (see FIG. 3), the structure of the vibration control device 14, and the like.

  Of course, various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Structure to be controlled 2 Movable mass 5 Actuator 14 Damping device 15 Control device 16 Control theory unit 17 Characteristic evaluation unit of damping device control system 18 Prediction control unit 19 Automatic gain control unit 20 Gain coefficient processing unit U1, U2, U3, U4, U5 command value

Claims (2)

  Based on the required control theory, a movable mass displacement command value is generated for reciprocating the movable mass of the vibration damping device with a phase delay of 90 degrees with respect to the vibration of the structure to be controlled by the actuator. By evaluating the response characteristics of the control system of the vibration control device, the amplitude and phase of the same value as the actual displacement of the reciprocating movement of the movable mass that is assumed when the movable mass is reciprocated by the command value Next, based on the time-series change in the amplitude and phase of the same value as the actual displacement of the reciprocating movement of the movable mass, the movable mass at a time point ahead of the response of the actual displacement that will occur in the movable mass. After calculating the displacement of the mass, a peak value of the displacement of the movable mass is obtained in the range up to the calculated required time. Based on the peak value, the stroke of the actual displacement of the movable mass in the vibration damping device Allowable straw A gain for enabling control within the range is obtained, and then, the command value derived by multiplying the command value for displacement of the movable mass by a ratio for narrowing down the amplitude of the movable mass by this gain is set to the control value. A control method for a vibration damping device, characterized by being applied to an actuator of a vibration device.   A damping mass comprising a movable mass placed on a damping target structure so as to be able to reciprocate along the direction in which the damping target structure swings, and a required actuator for reciprocating the movable mass. In the control device of the apparatus, the command value of the displacement of the movable mass for causing the movable mass of the vibration damping device to reciprocate with a phase delay of 90 degrees with respect to the vibration of the structure to be controlled by the actuator is based on the required control theory. By evaluating the response characteristics of the control theory unit generated based on the control system and the control system of the vibration control device, the movable mass that is generated when it is assumed that the movable mass is reciprocated by the command value generated by the control theory unit. The characteristic evaluation unit of the vibration control device control system for obtaining the same amplitude and phase as the real displacement of the mass reciprocation, and the real displacement of the reciprocation of the movable mass obtained by the characteristic evaluation unit of the vibration control device control system Of the same value Based on a time-series change in width and phase, a prediction control unit that calculates the displacement of the movable mass at a time point ahead of the response of the actual displacement that will occur in the movable mass, and the prediction control unit The peak value of the displacement of the movable mass is obtained in the range up to the required time, and the stroke of the actual displacement of the movable mass in the vibration damping device can be controlled within the allowable stroke range based on the peak value. A command to be given to the actuator of the vibration control device by multiplying the command value generated by the control theory unit by an automatic gain control unit for obtaining a gain and a ratio for narrowing down the amplitude of the movable mass by the automatic gain control unit A control device for a vibration damping device, comprising: a gain coefficient processing unit that calculates a value.

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