JP2012112237A - Vibration control device, vibration control method and construction method for vibration control structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a compact vibration control device capable of active vibration control.SOLUTION: A vibration control device 10 comprises: first attaching portions 13 provided on one structural member 12 where edge portions thereof are rotatably connected (pin connected) to other structural members 14; expansion means 24 which are arranged between second attaching portions 18 provided on the other structural members 14, have one edge portion connected to the first attaching portion 13 and the other edge portion connected to the second attaching portion 18 and impart rotational force around junctions of the one structural member 12 and the other structural member 14 by expansion or contraction; detection means 25 to detect an amount of expansion or contraction of the one structural member 12; and control means 28 which makes the expansion means 24 expand or contract based on the amount of the expansion or the contraction detected by the detection means 25.

Description

  The present invention relates to a vibration damping device, a vibration damping method, and a vibration damping structure construction method.

  Conventionally, a vibration damping device having a large mass (movable mass) has been used for damping a structure. The vibration of the structure is suppressed by using a reaction force generated by synchronizing the movable mass with the vibration characteristics of the structure itself or forcibly vibrating the movable mass.

Although these methods can obtain a large control force, they have a disadvantage that a large and heavy movable mass is required. That is, since the movable mass is large and heavy, there are restrictions on securing the installation space, the loading method at the time of installation, and the like.
Therefore, a compact and economical vibration control device using a damper has been proposed (Patent Document 1).

As shown in FIG. 14, the vibration damping device of Patent Document 1 is provided at a joint portion that joins the steel beam 80 and the steel column 82.
That is, the upper flange 84 of the steel beam 80 and the flange 86 of the steel column 82 are fastened with the high-strength bolts 90 using the joint hardware 88, respectively.
Further, the web of the steel beam 80 is joined to the flange 86 of the steel column 82 by a joint hardware 89. At this time, the joint hardware 89 is provided with a loose hole that does not restrict the behavior of the web in the direction away from the flange 86 of the steel column 82, and the web of the steel beam 80 extends in the material axis direction of the steel beam 80. It is fastened with a high-strength bolt 90 so that it can slide. Joining of the joining hardware 89 and the flange 86 of the steel column 82 is fastened by a high strength bolt 90.
Further, the lower flange 85 of the steel beam 80 and the flange 86 of the steel column 82 are connected via a damper 92 that absorbs seismic energy.

  However, since the vibration damping device of Patent Document 1 uses a damper 92 at the joint between the steel beam 80 and the steel column 82, there is room for downsizing. Moreover, it is passive vibration suppression and cannot be active vibration suppression.

JP 2002-173977 A

  The present invention has been made in view of the above-described facts, and an object of the present invention is to provide a compact damping device capable of active damping.

  The vibration damping device according to the first aspect of the present invention includes a first mounting portion provided in one structural member that is rotatably joined (pin joined) to another structural member, and the other structural member. The one end is joined to the first attachment, the other end is joined to the second attachment, expands and contracts, and the first attachment is provided between the second attachment and the second attachment. Expansion / contraction means for applying a rotational force centered on a joint with the other structural member to the structural member, detection means for detecting the expansion / contraction amount of the one structural member, and the expansion / contraction amount detected by the detection means And a control unit that expands and contracts the expansion / contraction unit based on the control unit.

According to the first aspect of the present invention, one end is joined to the first mounting portion provided in one structural member, and the other end is connected to the second mounting portion provided in the other structural member. By expanding and contracting the bonded expansion / contraction means, it is possible to apply a rotational force centered on a bonded portion that is rotatably bonded to another structural member to one structural member.
Further, the expansion / contraction amount of one structural member is detected by the detection means, and the expansion / contraction of the expansion / contraction means is controlled based on the expansion / contraction amount detected by the detection means by the control means.

As a result, the expansion / contraction means can be expanded and contracted by the control means, and the one structural member can be deformed by applying a rotational force centered on the joint portion, thereby suppressing the vibration of the one structural member. That is, it is possible to provide a vibration control device that actively deforms one structural member to control vibration.
Here, the pin joint means a so-called “designed pin joint”. Strictly speaking, a part of the rotational force applied to the joint portion is absorbed by the pin joint.

  According to a second aspect of the present invention, in the vibration damping device according to the first aspect, the expansion / contraction means and the detection means are in the form of a flat plate whose end portions are joined to the first attachment portion and the second attachment portion, respectively. And a film-type piezoelectric element that is fixed to both side surfaces of the substrate and expands or contracts the substrate according to an applied voltage or outputs a voltage according to the expansion / contraction amount of the substrate. It is said.

  According to the second aspect of the present invention, the expansion / contraction means can expand / contract the substrate by applying a voltage to the film-type piezoelectric element fixed to both side surfaces of the substrate. The detection means can output a voltage corresponding to the amount of expansion / contraction of the substrate from the film-type piezoelectric element.

  Thereby, the deformation | transformation of one structural member can be suppressed by expanding / contracting the board | substrate provided between the 1st attachment part and the 2nd attachment part. Further, the expansion / contraction between the first mounting portion and the second mounting portion can be detected by the expansion / contraction of the substrate, and the film-type piezoelectric element can be used as the detecting means. Furthermore, the piezoelectric element is a film type, and can provide a compact expansion / contraction means.

  According to a third aspect of the present invention, in the vibration damping device according to the first or second aspect, the first attachment portion is a corner portion in which a lower side of an end portion of the one structural member is cut out. The 2 attachment portion is a protruding member protruding from the other structural member.

With the configuration according to the third aspect, the expansion / contraction means is expanded / contracted between the corner of the lower side of one structural member and the protruding member of the other structural member. As a result, it is possible to apply a rotational force around the joint between one structural member and another structural member to one structural member.
As a result, one structural member can be actively damped.

  According to a fourth aspect of the present invention, in the vibration damping device according to the first or second aspect, the first attachment portion extends from a lower side of an end of the one structural member in a direction orthogonal to the one structural member. It is a protruding arm member, and the second attachment portion is a protruding member protruding from the other structural member or an end portion of the other structural member.

With the configuration according to claim 4, between the arm member of one structural member and the protruding member of the other structural member, or between the arm member of one structural member and the end of the other structural member. The expansion / contraction means is expanded and contracted. As a result, it is possible to apply a rotational force around the joint between one structural member and another structural member to one structural member.
As a result, one structural member can be actively damped.

  According to a fifth aspect of the present invention, in the vibration damping device according to any one of the first to fourth aspects, the one structural member is a small beam, and the other structural member is at both ends of the small beam. It is a large beam in which the upper side of the part is joined rotatably.

  Thereby, an expansion-contraction means can be expanded-contracted in the junction part of a big beam and a small beam. As a result, a rotational force centered on the joint can be applied to the beam and deformation of the beam can be suppressed.

  According to a sixth aspect of the present invention, in the vibration damping device according to any one of the first to fourth aspects, the one structural member is a large beam, and the other structural member is provided at both end portions of the large beam. The upper side is a pillar joined rotatably.

  Thereby, an expansion-contraction means can be expanded-contracted in the junction part of a pillar and a big beam. As a result, a rotational force centered on the joint can be applied to the girder and deformation of the girder can be suppressed.

  The invention according to claim 7 is the vibration damping device according to any one of claims 1 to 6, wherein the expansion / contraction means is provided at both ends of the one structural member, and the one expansion / contraction means is The other expansion / contraction means functions as the detection means, and functions as an actuator that expands / contracts the one structural member in the axial direction.

According to the seventh aspect of the present invention, the expansion / contraction amount in the axial direction of one structural member can be detected by causing the expansion / contraction means provided at one end to function as the detection means.
Further, by causing the expansion / contraction means provided at the other end to function as an actuator, a rotational force centered on the joint between one structural member and another structural member is applied to one structural member. Can do.
As a result, it is possible to detect the deformation of one structural member due to an external force and suppress the vibration of one structural member at the same time using only the expansion / contraction means having the same configuration without providing a dedicated detection means for detecting the amount of expansion / contraction. Can do.

  The invention according to claim 8 is the vibration damping device according to any one of claims 1 to 6, wherein the expansion / contraction means includes a plurality of expansion / contraction means in parallel at both ends of the one structural member. And at least one of the plurality of expansion / contraction means functions as the detection means, and the remaining expansion / contraction means function as an actuator that expands / contracts the one structural member in the axial direction.

According to the invention described in claim 8, at least one expansion / contraction means among the plurality of expansion / contraction means provided in parallel at both ends of one structural member functions as a detection means, and the remaining expansion / contraction means Functions as an actuator.
As a result, the detecting means detects the amount of expansion and contraction in the axial direction of one structural member that expands and contracts in response to an external force. At the same time, the actuator can apply a rotational force around the joint between one structural member and another structural member to one structural member based on the detection result.
That is, by arranging the detecting means and the actuator having the same configuration at the same place, it is possible to grasp the exact amount of expansion / contraction of one structural member and to quickly control the expansion / contraction of one structural member.

  The invention according to claim 9 is the vibration damping device according to claim 1 or 2, wherein the one structural member is a point-supported pin column, and the other structural member is a foundation for supporting the pin column. The first mounting portion is a joint provided on the peripheral surface of the pin pillar, and the second mounting portion is a joint provided on the base portion.

According to the ninth aspect of the present invention, the one structural member is a pin column that is point-supported by the base portion, and the expansion and contraction means connects the peripheral surface of the pin column and the base portion that is another structural member. .
Thereby, the rotational force centering on a point support part can be given to a pin pillar by expanding and contracting an expansion-contraction means.

  In the structure damping method according to the invention described in claim 10, the end portion is rotatably joined to another structural member by the detecting means that is deformed by an external force and outputs a voltage corresponding to the expansion / contraction amount. The step of detecting the amount of expansion / contraction of one structural member, and the control means are provided on the first mounting portion provided on the one structural member and the other structural member based on the detection result from the detection means. A step of outputting a signal for expanding / contracting the one structural member to the expansion / contraction means joined between the second mounting portion and the both ends of the flat substrate on the first mounting portion and the second mounting portion. In accordance with the output from the detection means, the expansion / contraction means to which the respective parts are joined expands / contracts the film-type piezoelectric element that is fixed to both side surfaces of the substrate and expands / contracts the substrate according to the applied voltage. Connect the structural member to the other structural member. Is characterized by having a step of imparting a rotational force around the part, the.

According to a tenth aspect of the present invention, in the vibration damping method for a structure, one structural member is detected by a detecting unit that receives an external force and outputs a voltage corresponding to the amount of expansion / contraction by the step of detecting the amount of expansion / contraction. The amount of expansion / contraction is detected.
A first mounting portion provided on one structural member whose end is rotatably joined to another structural member based on a detection result from the detection means by the control means by outputting the next signal; A signal for extending / contracting one structural member is output to the expansion / contraction means joined between the second mounting portion provided in the other structural member.

In the step of applying the final rotational force, the first mounting portion and the second mounting portion are fixed to both side surfaces of the substrate by expansion / contraction means in which both end portions of the flat plate-like substrate are joined to each other according to the applied voltage. The film-type piezoelectric element that expands and contracts is expanded and contracted according to the output, and a rotational force is applied to one structural member around a joint with another structural member.
By executing the above structure damping method, one structural member can be actively damped using a compact damping device.

  The construction method of the vibration damping structure according to the invention described in claim 11 is provided with a first attachment part for joining one end of the expansion / contraction means at the end of one structural member, and the expansion / contraction means on the other structural member. A step of providing a second mounting portion for joining the other end of the first member, a step of rotatably joining the end of the one structural member to another structural member, a flat substrate, and both sides of the substrate Bonding an end of an expansion / contraction means having a film-type piezoelectric element fixed to a surface and expanding / contracting the substrate in accordance with an applied voltage to the first mounting portion and the second mounting portion, respectively, and receiving an external force The step of installing a detecting means for detecting the amount of expansion / contraction of the one structural member that deforms between the first attachment portion and the second attachment portion, and the expansion / contraction means based on the amount of expansion / contraction, Providing a control means for outputting a signal for expanding and contracting the one structural member. It is characterized in that.

According to the eleventh aspect of the present invention, in the construction method of the vibration damping structure, the first attachment portion that joins one end portion of the expansion / contraction means to the end portion of one structural member is provided in the first step, and the other A second attachment portion for joining the other end portion of the expansion / contraction means to the structural member is provided.
In the next step, the end of one structural member is rotatably joined to another structural member.
In the next step, the ends of the expansion / contraction means comprising a flat substrate and a film-type piezoelectric element that is fixed to both side surfaces of the substrate and expands / contracts the substrate according to the applied voltage are connected to the first attachment portion and the second attachment portion. It is joined to each part.

In the next step, detection means for detecting the amount of expansion / contraction of one structural member that is deformed by receiving an external force is installed between the first attachment portion and the second attachment portion.
In the last step, control means for outputting a signal for expanding / contracting one structural member to the expansion / contraction means based on the expansion / contraction amount is installed.
By executing the above-described construction method of the damping structure, a compact damping device capable of active damping of one structural member can be provided.

  Since the present invention is configured as described above, it is possible to provide a vibration damping device that is compact and capable of active vibration damping.

(A) is a side view which shows the basic composition of the damping device which concerns on the 1st Embodiment of this invention, (B) is an enlarged view of a junction part. (A) is a side view which shows the basic composition of the actuator used with the damping device concerning a 1st embodiment of the present invention, (B) is the top view, and (C) is a film type piezoelectricity It is a perspective view of an element. (A) And (B) is a figure which shows the electrical property of the actuator used with the damping device which concerns on the 1st Embodiment of this invention. (A) is a side view which shows the damping principle of the beam in the damping device which concerns on the 1st Embodiment of this invention, (B) is a characteristic view which shows a trial calculation result. It is a side view which shows the basic composition of the damping device which concerns on the 2nd Embodiment of this invention. (A) is a side view which shows the example of application of the damping device which concerns on the 3rd Embodiment of this invention, (B) is a side view which shows the basic composition of a junction part. (A) is a side view which shows the verification experiment apparatus of the damping device which concerns on the 4th Embodiment of this invention, (B) is an enlarged view of a junction part, (C) is the partial expansion of an expansion-contraction means. FIG. (A) And (B) is a characteristic view which shows the verification experiment result of the damping device which concerns on the 4th Embodiment of this invention. It is a side view which shows the basic composition of the damping device which concerns on the 5th Embodiment of this invention. (A) is a side view which shows the analysis model of the damping device which concerns on the 5th Embodiment of this invention, (B) is a figure which shows an analysis result. (A) (B) (C) is a side view which shows the analysis result of the damping device which concerns on the 5th Embodiment of this invention. It is a side view which shows the basic composition of the damping device which concerns on the 6th Embodiment of this invention. It is sectional drawing which shows the basic composition of the damping device which concerns on the 7th Embodiment of this invention. It is a side view which shows the basic composition of the damping device of a prior art example.

(First embodiment)
As shown in the side view of FIG. 1 (A) and the enlarged view of the joint part of FIG. 1 (B), the vibration damping device 10 according to the first embodiment is provided at the joint part of the large beam 14 and the small beam 12. The actuator 24 is attached.
Both the large beam 14 and the small beam 12 are formed of H-shaped steel, and a concrete slab 34 is provided on the flush upper flange.

  The joint between the large beam 14 and the small beam 12 is joined by a gusset plate 52 so as to be rotatable (pin joining). A gusset plate 52 made of steel is welded to the web of the large beam 14 at a portion where the small beam 12 is bonded with the width of the flange of the large beam 14. Here, the pin connection means a so-called “designed pin connection”. Strictly speaking, a part of the bending moment M 1 is absorbed by the gusset plate 52.

Both ends of the small beam 12 are cut obliquely on the lower side (lower flange 12F side), and the lower portion of the web 12W and the end of the lower flange 12F are cut out in a triangular shape. The notched corner portion 13 of the lower flange 12F serves as an attachment portion of an actuator 24 described later, and the corner portion 13 is provided with a through hole for attaching the actuator 24.
The upper part of the small beam 12 is left uncut and is abutted against the end face of the gusset plate 52 with a gap d. The gusset plate 52 and the uncut web 12 </ b> W are joined by the joining plate 16.

A gap 22 is formed between the end face of the gusset plate 52 and the end face where the small beam 12 is cut, and the mounting bracket 18 protrudes toward the cut end 13 in the gap 22.
A flange 18F is provided in the lower part of the mounting bracket 18, and a through-hole for mounting the actuator 24 is opened in the flange 18F. The mounting bracket 18 is attached to the gusset plate 52 by the connecting hardware 20, and the flange 18 </ b> F of the mounting bracket 18 is provided on the extension line of the lower flange 12 </ b> F of the small beam 12.

  An actuator 24 having an expansion / contraction function is disposed between the lower flange of the beam 12 and the flange of the mounting bracket 18. One end of the actuator 24 is joined to the lower flange 12F of the small beam 12 with a bolt 34 using a through hole, and the other end of the actuator 24 is bolted to the flange 18F of the mounting bracket 18 with a through hole. 35 is joined.

A strain sensor 25 is provided on the lower flange 12F of the beam 12. The strain sensor 25 is fixed to the upper surface of the lower flange of the beam 12 and detects an amount of expansion / contraction (amount of strain) generated when the beam 12 vibrates. The detected expansion / contraction amount is transmitted to the controller 28 via the lead wire 39.
The actuator 24 is also connected to the controller 28 via a lead wire 39, and the controller 28 extends and contracts the actuator 24 based on the expansion / contraction amount detected by the strain sensor 25.

  With this configuration, the controller 28 expands and contracts the actuator 24 in the direction of arrow H based on the strain amount of the lower flange 12F of the small beam 12 detected by the strain sensor 25. The actuator 24 is mounted between the corner portion 13 of the lower flange 12F of the small beam 12 and the mounting bracket 18. The expansion and contraction of the actuator 24 generates a rotational force M1 centered on the joining plate 16, and the small beam. 12 is deformed.

As a result, for example, the vibration of the beam 12 can be suppressed by detecting the vibration of the beam 12 generated during the earthquake and extending and retracting the actuator 24 so that the beam 12 is caused to vibrate in the opposite phase. .
As a result, the actuator 28 is expanded and contracted by the controller 28, and the small beam 12 is deformed by applying a rotational force around the joining plate 16 to suppress vibration. That is, it is possible to provide a vibration damping device that actively deforms the beam 12 and suppresses the vibration of the beam 12.

Next, the actuator 24 will be described.
As shown in the side view of FIG. 2A and the plan view of FIG. 2B, the actuator 24 has a configuration in which film-type piezoelectric elements 32 are fixed to both side surfaces of a substrate 30 formed of a steel plate. Electric power is supplied to the film-type piezoelectric element 32 via the lead wire 39.

  As shown in the perspective view of FIG. 2C, the film-type piezoelectric element 32 is a polyimide film in which piezoelectric ceramics 37 formed in a fiber shape are arranged in a plane and electrodes are printed on both sides of the piezoelectric ceramic 37. 38 is arranged, and they are joined by an epoxy resin 36.

  In the film type piezoelectric element 32, when a voltage is applied from both sides of the piezoelectric ceramic 37 via the lead wire 39 from the controller 28, distortion according to the applied voltage value is generated in the piezoelectric ceramic 37, and the film type piezoelectric element 32. The element 32 is deformed in the direction of the arrow P.

  Thus, the substrate 30 can be expanded and contracted in the direction of the arrow P from both side surfaces by simultaneously applying the same applied voltage to the film-type piezoelectric elements 32 on both side surfaces of the substrate 30. That is, by fixing one end of the substrate 30 to the corner portion 13 cut out of the small beam 12 and the other end to the mounting bracket 18 of the large beam 14, the substrate 30 functions as an actuator 24 that expands and contracts the small beam 12 according to the applied voltage. Can do. Moreover, the film-type piezoelectric element 32 is formed in a thin film shape, and a compact actuator 24 can be provided.

  Further, the film-type piezoelectric element 32 has a characteristic of generating a voltage proportional to the amount of strain when the piezoelectric ceramic 37 is expanded and contracted to generate strain. That is, the film-type piezoelectric element 32 is deformed by an external force and outputs a voltage corresponding to the amount of expansion / contraction of the substrate 30. For example, one end of the substrate 30 is fixed to the small beam 12 and the other end is fixed to the large beam 14. Thus, it can function as a strain sensor that detects the amount of strain in the axial direction of the beam.

Next, the electrical characteristics of the actuator 24 will be described.
FIG. 3A is a characteristic diagram showing the relationship between the applied voltage and the generated output. The horizontal axis is the applied voltage (V), and the vertical axis is the generated force (N).
The actuator 24 used in the experiment has a structure in which film-type piezoelectric elements 32 are fixed to both side surfaces of a steel plate (substrate) having a thickness of 0.4 mm.
As shown by the characteristic PV, the experimental result shows that the characteristic PV is almost a straight line in the range where the applied voltage (V) is positive (particularly the tensile side of the steel plate), and the generated force proportional to the applied voltage (V) ( It can be seen that N) is obtained.

FIG. 3B shows the relationship between the acceleration signal of the actuator 24 and the phase difference between the applied voltages. The horizontal axis represents frequency (Hz), and the vertical axis represents phase difference (degrees).
In the experiment, an AC voltage was applied to the film-type piezoelectric element 32 shown in FIG. 2, and the relationship between the acceleration signal detected from the acceleration pickup 58 attached to the tip of the steel plate 30 and the phase difference between the applied voltages was measured.

  As shown in the characteristic Q, the experimental result shows that the phase difference increases substantially linearly as the frequency (Hz) increases, and a delayed phase of about 30 degrees at 100 Hz. It has been already known that the vibration of the beam actually generated is about 10 to 20 Hz, and the phase delay is about 5 to 15 degrees, and it has been confirmed that there is no practical problem.

Next, a principle model for explaining the beam damping principle is shown in the side view of FIG. The beam 60 is H-shaped steel, the length is L (mm), and the height (the vertical distance between the upper flange portion 62 and the lower flange portion 64) is h (mm). The upper flange position 62 (upper support part) at both ends of the beam 60 is pin-joined, and a tensile force F (N) is applied in the horizontal direction to the lower flange position (lower support part 64).
At this time, the static displacement amount δ1 (mm) of the central portion of the beam 60 is obtained by the following equation.
δ1 = (2ML ² ) / (16EI)
here,
E: Young's modulus (Pa) of beam material
I: Sectional moment of the beam (mm ⁴ )
M: Rotational moment (N · mm)
L: Length of beam (mm)

On the other hand, a displacement amount δ2 (mm) when a vertical force F (N) is applied to the central portion of the beam 60 is obtained by the following equation.
δ2 = (2FL ³ ) / (48EI)
Therefore, the ratio of the static displacement amount δ1 and the displacement amount δ2 is expressed by the following equation.
δ1 / δ2 = 6h / L

  In a normal building, a beam of about h = L / 20 mm is used. Therefore, when a tensile force F (N) is applied to the lower end of the beam 60, a force F (N) is applied to the center of the beam 60. Compared to the case, deformation of about δ1 / δ2 = 6/20 can be caused.

Next, simulation results will be described.
As shown in the schematic diagram of FIG. 4B, in order to grasp the magnitude of the tensile force F (N) required for the actuator 24, the upper support portions 62 at both ends of the beam 12 are used as pin supports, and the lower support portions are used. A simulation was conducted for a case where the tensile force F was 1000 N and the sample was pulled in the horizontal direction. The beam 60 is H-shaped steel (H400-200-8-13), and the length L of the beam 60 is set to 8000 mm.

As a result, the maximum change occurred in the central portion of the beam 60, and the amount of expansion / contraction in the vertical direction δ1− = about 10 μm. When this beam 60 is vibrated at a resonance frequency, it is assumed that the central portion displacement is about 10 times at maximum. When the resonance frequency is 10 Hz, the vibration acceleration at this time is about 40 gal (cm / s ² ). Due to the characteristics of the film-type piezoelectric element 32, if two film-type piezoelectric elements 32 are used, a force F = 1000 N necessary for damping the beam 60 can be secured.
As described above, according to the present embodiment, it is possible to provide a compact vibration damping device 10 capable of active vibration damping of the beam 12.

  That is, compared with the conventional AMD (Active Mass Damper) or TMD (Tuned Mass Damper) method, it is not necessary to use a large mass, a spring or the like, and the cost for carrying in and installing them can be reduced. In contrast to the conventional AMD and TMD installed at the center of the upper part of the beam, this embodiment is configured to be installed at the lower flange part of the beam end. For this reason, there is an advantage that an installation space is not required above the beam 60.

Next, a vibration damping method for damping the structure will be described with reference to FIG. The details of each step have already been described and will be omitted.
First, a step of detecting the amount of expansion / contraction is executed. That is, the vibration (amount of strain) of the small beam 12 is detected by the strain sensor 25 attached to the lower flange 12F of the small beam 12. Here, the strain sensor 25 is deformed by an external force and outputs a voltage corresponding to the amount of expansion / contraction to the controller 28.

  Next, a step of outputting a control signal is executed. That is, the controller 28 outputs a control signal to the actuator 24 based on the detection result input from the strain sensor 25. At this time, the actuator 24 is joined to the corner portion 13 of the small beam 12 that is rotatably joined to the large beam 14, and the other end is joined to the mounting bracket 18 attached to the large beam 14. A control signal is output from the controller 28 to the actuator 24 so as to give the expansion and contraction in the opposite phase to the detected expansion and contraction of the beam 12.

Finally, a step of applying a rotational force to the joint is executed. That is, the actuator 24 is a film-type piezoelectric element 32 in which the ends of the flat substrate 30 are fixed to the small beam 12 and the large beam 14 respectively, and is fixed to both side surfaces of the substrate 30 and expands and contracts according to the applied voltage. The substrate 30 is expanded and contracted. By extending and contracting the substrate 30, the small beam 12 is expanded and contracted, and a rotational force is applied to the small beam 12 around the joint with the large beam 14.
By executing the above steps, the small beam 12 can be actively damped using the compact actuator 24.

Next, a construction method of the vibration damping structure will be described with reference to FIG. Details of each step have already been described and will be omitted.
First, the process of attaching an expansion / contraction means is performed. That is, the end portion of the small beam 12 is cut out to form a corner portion 13 that joins one end portion of the actuator 24. Further, the mounting bracket 18 is joined to the gusset plate 52 of the large beam 14.
Next, a step of joining the structural members is performed. That is, the end portion of the small beam 12 is joined to the large beam 14 by the joining plate 16 so as to be rotatable.

  Next, a step of joining the actuator is executed. That is, one end of the actuator 24 is joined to the corner 13 of the beam 12. The other end of the actuator 24 is joined to the mounting bracket 18 of the large beam 14. Here, the actuator 24 has a configuration in which film-type piezoelectric elements 32 that expand and contract the substrate 30 according to the applied voltage are fixed to both side surfaces of the flat substrate 30. The actuator 24 is expanded and contracted according to the applied voltage, and applies a rotational force around the joint with the large beam 14 to the small beam 12.

  Next, a step of installing a strain sensor is executed. That is, the strain sensor 25 is installed on the upper surface of the lower flange of the small beam 12. Here, the strain sensor 25 is deformed by receiving an external force and outputs the amount of expansion / contraction of the beam 12 to the controller 28.

Finally, the process of attaching the controller is executed. That is, the controller 28 is installed, and the controller 28 and the strain sensor 25 and the controller 28 and the actuator 24 are connected by the lead wire 39. Thereby, based on the amount of expansion / contraction of the small beam 12, a signal for expanding / contracting the small beam 12 can be output from the controller 28 to the actuator 24.
Through the above-described steps, it is possible to provide a vibration control structure that can perform active vibration control of the beam 12 using the compact actuator 24.

(Second Embodiment)
As shown in FIG. 5, the vibration damping device 60 according to the second embodiment is different from the vibration damping device 10 according to the first embodiment in the configuration of the strain sensor 26. The difference will be mainly described.
The vibration damping device 60 has a configuration in which the strain sensor 26 is disposed in parallel with the actuator 24 at the installation positions of the actuator 24 at both ends of the small beam 12. The strain sensor 25 is replaced with the strain sensor 26, and the strain sensor 25 described in the first embodiment is not necessary.

The strain sensor 26 has the same configuration as the actuator 24, and as described above, the film-type piezoelectric element 32 that outputs a voltage corresponding to the amount of expansion / contraction of the substrate 30 is fixed to both side surfaces of the flat steel substrate 30. It has been configured.
Thereby, the expansion / contraction amount of the small beam 12 can be detected at the position of the actuator 24. Further, the dedicated strain sensor 25 is not required, and the parts of the actuator 24 and the strain sensor 26 can be shared.

Although illustration is omitted, another actuator 24 may be additionally provided in parallel with the actuator 24. Thereby, the expansion / contraction force of the actuator 24 can be made stronger than the case where the number of the actuators 24 is one.
Other configurations are the same as those of the vibration damping device 10 according to the first embodiment, and a description thereof will be omitted.

(Third embodiment)
As shown in FIG. 6A, the vibration damping device 62 according to the third embodiment differs from the vibration damping device 10 according to the first embodiment in the installation location of the vibration damping device. The difference will be mainly described.
In the third embodiment, as shown in the enlarged view of the beam-column joint portion in FIG. 6B, a vibration damping device 62 is deployed on the beam-column joint portion 64 of the beam-column frame 70.

  That is, the joint between the column 66 and the upper part of the large beam 68 is joined by the joining plate 69. Both ends of the girder 68 are notched at the lower side, and one end of the actuator 24 is attached to the notched corner 47 by a bolt 34. Further, a mounting bracket 67 is provided on the side wall of the column 66 (the surface of the flange 66F), and the other end of the actuator 24 is mounted with a bolt 35.

Thereby, based on the detection output of the strain sensor (not shown), the actuator 24 can cause the girder 68 to output the rotational moment M2 around the joining plate 69 and suppress the vibration of the girder 68.
As a result, for example, as shown in FIG. 6A, conventionally, a column beam structure 70 indicated by a solid line composed of a vertical column 66 and a horizontal large beam 68 is replaced by a column beam indicated by a one-dot chain line during an earthquake. It was deformed like the frame 72.

However, the deformation amount of the girder 68 is suppressed by detecting the amount of expansion / contraction of the girder 68 at the time of the earthquake with a strain sensor and generating a rotational moment M2 in each column beam joint 64 in a direction to suppress the deformation of the girder 68. can do. As a result, the deformation of the column beam frame 72 indicated by the one-dot chain line is suppressed, and the shape of the column beam frame 70 indicated by the solid line is maintained.
The strain sensor may be the strain sensor 25 described in the first embodiment or the strain sensor 26 described in the second embodiment.
Other configurations are the same as those of the vibration damping device 10 according to the first embodiment, and a description thereof will be omitted.

(Fourth embodiment)
As shown in FIG. 7A, the vibration damping device 40 according to the fourth embodiment is different from the vibration damping device 10 described in the first embodiment in the configuration of the strain sensor. The difference will be mainly described.
FIG. 7A shows an experimental device for a demonstration experiment of vibration damping characteristics described later, which is different from the first embodiment in that the structure of the large beam and the load is placed on the beam.

  As shown in FIG. 7A, the vibration damping device 40 has a configuration in which the strain sensor 26 is attached to one end portion of the beam 42 and the actuator 24 is attached to the other end portion of the beam 42. Here, the appearance of the strain sensor 26 is the same as that of the actuator 24. Note that the dedicated strain sensor 25 described in the first embodiment is not necessary.

  The attachment of the strain sensor 26 is the same as the attachment of the actuator 24 shown in FIG. That is, one end portion of the strain sensor 26 is attached to the cut-out corner portion 94 of the lower flange 12F of the beam 42, and the other end portion of the strain sensor 26 is attached to the mounting bracket 96.

  With this configuration, a controller (not shown) expands and contracts the actuator 24 based on the amount of strain at the end of the beam 42 detected by the strain sensor 26. Further, due to the expansion and contraction of the actuator 24, a rotational force about the joint portion 98 is generated, and the beam 42 is deformed.

As a result, for example, the vibration of the beam 42 can be suppressed by detecting the vibration of the beam 42 generated at the time of an earthquake and expanding and contracting the actuator so that the beam 42 generates a vibration having an opposite phase.
That is, the strain amount in the axial direction of the beam can be detected without using a dedicated strain sensor. Other configurations are the same as those of the vibration damping device 10 according to the first embodiment, and a description thereof will be omitted.

Next, a demonstration experiment of the vibration damping device 40 will be described.
FIG. 7A is a side view of the experimental apparatus 41, FIG. 7B is an enlarged view of an E portion that is a joint portion, and FIG. 7C is an attachment of the actuator 24 of FIG. 7B. It is the top view which looked at the part from the direction of arrow X.

  The beam 42 in the experimental apparatus 41 was H-shaped steel (H-100 × 50 × 5 × 7), and the length was 3000 mm. Both ends of the beam 42 are joined to the side wall of the steel column 54 by fillet welding at the upper flange and the web. The lower flange and the web at both ends are cut off obliquely, and a gap 73 is formed at a position of the lower flange over a length of about 200 mm.

  The actuator 24 is fixed to one gap 73, and the strain sensor 26 is fixed to the other gap 73. The actuator 24 and the substrate 30 of the strain sensor 26 are steel plates having a thickness of 1 mm. Moreover, the attachment to the lower flange of the board | substrate 30 was fixed in the extended state.

On the beam 42, a weight 75 corresponding to the weight of the slab (2000 N / m) was placed on the upper flange. An exciter 74 for generating disturbance vibration is installed at the center of the beam 42. Further, a vibrometer 76 for measuring the vibration of the vibrator 74 is installed immediately below the vibrator 74.
Here, the natural frequency of the experimental apparatus 41 was 12.5 Hz as a result of measurement by vibrating the vibration generator 74, and the damping characteristic was 2.0%.

  Further, the transfer function of the experimental apparatus 41 is based on the actual measurement result from the voltage signal input to the film type piezoelectric element 32 on the actuator 24 side to the voltage signal obtained by the film type piezoelectric element 32 on the strain sensor 26 side. It was confirmed that peaks occurred at 5 Hz and 27.5 Hz. Therefore, the notch filter (not shown) was used to lower the peak of the secondary natural frequency of 27.5 Hz, and the low-pass filter was used to lower the gain of the controller for other frequencies.

The experimental results are shown in FIG. FIG. 8 (A) shows the vertical acceleration waveform at the center of the beam specimen before and after control during sine wave excitation. The horizontal axis is time (seconds), and the vertical axis is acceleration (gal). In FIG. 8A, a characteristic P1 indicated by a one-dot chain line is a characteristic before control, and a characteristic P2 indicated by a solid line is a characteristic after control.
From the experimental result of FIG. 8A, it can be seen that the maximum acceleration amplitude is reduced from about 15 gal to about 5 gal (reduced to about 1/3) by performing the vibration damping control. It can be said that the vibration suppression effect in the present embodiment was verified by this demonstration experiment.

FIG. 8B shows a resonance curve of the beam 42 confirmed by sweep excitation. The horizontal axis is frequency (Hz), and the vertical axis is amplitude (gal). A characteristic Q1 indicated by a one-dot chain line is a characteristic before control, and a characteristic Q2 indicated by a solid line is a characteristic after control.
From the results, by performing vibration suppression control, the peak of acceleration amplitude at 12.5 Hz is reduced from about 0.7 gal to about 0.25 gal without greatly amplifying the amplitude at other frequencies (to about 1/3). It can be said that the vibration suppression effect in the present embodiment was verified by this demonstration experiment.

(Fifth embodiment)
As shown in the side view of FIG. 9, the vibration damping device 100 according to the fifth embodiment does not have notches at both ends of the vibration damping device 10 and the small beam 102 described in the first embodiment. It is different in point. The difference will be mainly described. In FIG. 9, the description of the slab is omitted.

The small beam 102 is connected to the large beam 14 by a joining plate 104. The upper surface of the upper flange of the large beam 14 and the upper surface of the upper flange of the small beam 102 are flush with each other, and the end surface of the gusset plate 52 and the end surface of the small beam 102 are attached with a predetermined gap d.
One end of the joining plate 104 is attached to a gusset plate 52 provided on the large beam 14, and the other end of the joining plate 104 is attached to the web 102 </ b> W of the small beam 12. At both ends of the small beam 102, a lower notch is not provided.

  A bracket 106 is fixed to the lower flange 102F of the small beam 102. The bracket 106 is formed in a substantially right triangle when viewed from the side, and protrudes downward from the lower surface of the lower flange 102F of the small beam 102. One side that sandwiches the right angle of the bracket 106 is welded to the lower surface of the lower flange 102F, and the other side that sandwiches the right angle of the bracket 106 projects in a direction perpendicular to the lower surface of the lower flange 102F. A front end portion (lower end portion) 106E of the bracket 106 has substantially the same height as the lower flange 14F of the large beam 14.

  One end of the actuator 24 is fixed to the front end portion 106E of the bracket 106 with a bolt 34, and the other end of the actuator 24 is fixed to the lower flange 14F of the large beam 14 with a bolt 35.

By using the bracket 106 described above, it is possible to increase the distance L between the joining plate 104, which is a joint between the large beam 14 and the small beam 102, and the tip end portion 106E of the bracket 106. As a result, the bending moment that can be applied to the small beam 102 can be increased, and control for greater vibrations can be achieved.
Furthermore, since the control output of the actuator 24 can be reduced to a certain level of vibration, the life of the actuator 24 can be extended.

With the above-described configuration, the actuator 24 can be expanded and contracted to expand and contract between the distal end portion 106E of the bracket 106 and the lower flange 14F of the large beam 14. As a result, a rotational force about the joint plate 104 between the small beam 102 and the large beam 14 can be applied to the small beam 102.
As a result, the small beam 102 can be actively damped by the actuator 24.

Next, the simulation result of the beam 102 in this embodiment will be described.
As shown in the analysis model 120 of FIG. 10A, in the analysis, a slab 124 having a heat of 150 mm is formed on a small beam 122 in which the displacement at both ends is fixed, and a height up to the tip 126E is formed below the small beam 122. A bracket 126 having a length of 200 mm was provided. A load P was applied to the tip 126E of the bracket 126, and the amount of displacement of the small beam 122 was calculated.

  The small beam 122 is an H-section steel (H-300 × 200 × 8 × 12) having a length of 6 m, and a load P of 1000 N is applied to the end portion of the bracket 126 in a state where rotation of the small beam 122 around the axial direction is restricted. It acted on 126E. The displacement amount was calculated using general-purpose finite element analysis software and the case where the load P was applied in five different directions.

FIG. 10B shows a summary table of the analysis results of the displacement amount of the small beam 102.
FIG. 10B shows the relationship between the arrangement angle of the actuator 24 and the maximum displacement (mm) at the center of the beam 102 when the arrangement angle of the actuator 24 is changed. From the results, when the arrangement angle of the actuator 24 is horizontal, the displacement amount at the center of the beam is the largest, and the displacement amount at this time is 5.348 × 10 ⁻³ mm.

  11A to 11C illustrate the deformation state of the beam 102 for each mesh used in the calculation. Here, FIG. 11A shows the result when a load P of 1000 N is applied to the front end 126E of the bracket 126 in the horizontal direction, and FIG. 11B shows the result of applying a load P of 1000 N to the front end of the bracket 126. FIG. 11A shows the result when a load P of 1000 N is applied to the front end portion 126E of the bracket 126 in the vertical direction. .

As described above, when the load P is applied to the front end portion 126E of the bracket 126 in the horizontal direction, it can be confirmed that the displacement amount at the center of the beam 122 becomes the largest (δ _A > δ _B > δ _C ). (See FIG. 10B for the specific displacement). Based on this analysis result, the arrangement angle of the actuator 24 was determined in the direction of FIG.
Other configurations are the same as those of the vibration damping device 10 according to the first embodiment, and a description thereof will be omitted.

(Sixth embodiment)
As shown in the side view of FIG. 12, the vibration damping device 110 according to the sixth embodiment is different from the vibration damping device 100 described in the fifth embodiment in that the large beam 14 is changed to a column 66 and the The difference is that the beam 102 is changed to a large beam 130. The difference will be mainly described.

Both the column 128 and the large beam 130 are formed of H-shaped steel, and the surface of the flange 128F of the column 128 and both ends of the large beam 130 are connected by the joining plate 112. One end of the joining plate 112 is attached to the column 128, and the other end of the joining plate 112 is attached to the web 130 </ b> W of the girder 130.
The end face of the column 128 and the end face of the large beam 130 are attached with a predetermined gap d.

  A bracket 106 is fixed to the lower flange 130F of the large beam 130. The bracket 106 is formed in a substantially right triangle when viewed from the side, and protrudes downward on the lower surface of the lower flange 130 </ b> F of the large beam 130. One side that sandwiches the right angle of the bracket 106 is welded to the lower surface of the lower flange 130F, and the other side that sandwiches the right angle of the bracket 130 projects in a direction perpendicular to the lower surface of the lower flange 130F. A front end portion (lower end portion) 130E of the bracket 106 has substantially the same height as the mounting bracket 114 fixed to the side wall of the column 128.

  One end of the actuator 24 is fixed to the distal end portion 106E of the bracket 106 with a bolt 34, and the other end of the actuator 24 is fixed to the mounting bracket 114 on the side wall of the column 128 with a bolt 35. Thereby, by extending and contracting the actuator 24, it is possible to apply a rotational force around the connecting metal 112 between the large beam 130 and the column 28 to the large beam 130. As a result, the large beam 130 can be actively damped.

With the above-described configuration, the effects described in the fifth embodiment can be obtained also in the column beam joint.
Other configurations are the same as those of the vibration damping device 100 according to the fifth embodiment, and a description thereof will be omitted.

(Seventh embodiment)
As shown in FIG. 12, the vibration damping device 44 according to the seventh embodiment includes a pin column 46 built on a concrete base portion 48. The basic concept of vibration suppression of the pin column 46 is the same as that of the first embodiment, and the differences will be mainly described.

  The pin column 46 is, for example, a wooden column built vertically, and a convex portion 50 that supports the pin column 46 at a fulcrum is provided on the bottom surface on the axis N. The convex portion 50 is supported by the base portion 48 and is freely rotatable around the axis N in a state where movement in the lateral direction is prohibited. A clearance 78 is provided between the bottom surface of the pin column 46 and the top surface of the base portion 48, and even if the pin column 46 is inclined about the convex portion 50, the bottom surface of the pin column 46 and the top surface of the base portion 48 do not contact each other. It is configured.

  The lower end portion of the pin post 46 has an outer peripheral surface cut obliquely, and a plurality of actuators 24 are provided in the cut portion so as to surround the convex portion 50. The lower end portion of the actuator 24 is fixed to the base portion 48, and the upper end portion is fixed to the outer peripheral surface of the pin column 46. A plurality of strain sensors 26 having the same configuration as the actuator 24 are attached in parallel with the actuator 24.

  Further, a controller 28 that outputs a control signal to the actuator 24 based on the output from the strain sensor 26 is provided, and the strain sensor 26 and the actuator 24 are connected to the controller 28 by lead wires 39, respectively.

  With this configuration, the actuator 24 can be expanded and contracted by the controller 28 based on the tilt information output of the pin column 46 output from the strain sensor 26. By causing the actuator 24 to generate a moment around the convex portion 50 on the peripheral surface of the pin column 46, it is possible to suppress the inclination due to the external force of the pin column 46.

10 Damping device 12 Beam (one structural member)
13 Notch end (first mounting part)
14 Large beams (other structural members)
18 Mounting bracket (protruding member, second mounting part)
24 Actuator (Extension / contraction means)
25 Strain sensor (detection means)
26 Strain sensor (detection means)
28 controller (control means)
30 Substrate 32 Film type piezoelectric element 46 Pin pillar (one structural member)
48 Concrete foundation (other structural members)
106 Bracket (arm member)
128 pillars (other structural members)
130 Large beam (one structural member)

Claims (11)

Provided between a first mounting portion provided in one structural member that is rotatably joined (pin joined) to another structural member and a second mounting portion provided in the other structural member. One end is joined to the first mounting portion, the other end is joined to the second mounting portion, expands and contracts, and the one structural member is centered on the joint portion with the other structural member. Expansion and contraction means for applying a rotational force,
Detecting means for detecting the amount of expansion and contraction of the one structural member;
Control means for expanding / contracting the expansion / contraction means based on the expansion / contraction amount detected by the detection means;
A vibration damping device.   The expansion / contraction means and the detection means are fixed to both side surfaces of the flat plate-like substrate having end portions respectively joined to the first attachment portion and the second attachment portion, and the substrate according to an applied voltage. The vibration damping device according to claim 1, further comprising: a film-type piezoelectric element that outputs a voltage corresponding to an amount of expansion / contraction of the substrate.   The first mounting portion is a corner portion obtained by cutting out a lower side of an end portion of the one structural member, and the second mounting portion is a protruding member protruding from the other structural member. 2. The vibration damping device according to 2.   The first mounting portion is an arm member protruding from a lower side of an end portion of the one structural member in a direction orthogonal to the one structural member, and the second mounting portion protrudes from the other structural member. The damping device according to claim 1, wherein the damping device is an end portion of the projecting member or the other structural member. The one structural member is a beam.
5. The vibration damping device according to claim 1, wherein the other structural member is a large beam in which upper ends of both ends of the small beam are rotatably joined. The one structural member is a girder,
5. The vibration damping device according to claim 1, wherein the other structural member is a column in which upper sides of both ends of the large beam are rotatably joined.   The expansion / contraction means is provided at both ends of the one structural member, one of the expansion / contraction means functions as the detection means, and the other expansion / contraction means is an actuator that expands / contracts the one structural member in the axial direction. The damping device according to any one of claims 1 to 6, which functions.   The expansion / contraction means has a plurality of expansion / contraction means provided in parallel at both ends of the one structural member, and at least one of the plurality of expansion / contraction means functions as the detection means, and the remaining expansion / contraction means Functions as an actuator that expands and contracts the one structural member in the axial direction. The one structural member is a pin column that is point-supported,
The other structural member is a base that supports the pin pillar,
The first mounting portion is a joint provided on the peripheral surface of the pin post,
3. The vibration damping device according to claim 1, wherein the second attachment portion is a joint provided in the base portion. A step of detecting the amount of expansion / contraction of one structural member whose end is rotatably joined to another structural member by detection means that is deformed by receiving an external force and outputs a voltage corresponding to the amount of expansion / contraction;
Expansion and contraction joined by the control means between the first attachment part provided on the one structural member and the second attachment part provided on the other structural member based on the detection result from the detection means. Causing the means to output a signal for expanding and contracting the one structural member;
The expansion / contraction means in which both ends of a flat plate-like substrate are joined to the first attachment portion and the second attachment portion, respectively, are fixed to both side surfaces of the substrate according to the output from the detection means. And extending and contracting the film-type piezoelectric element that expands and contracts the substrate, and applying a rotational force centered on a joint with the other structural member to the one structural member;
Damping method for a structure having Providing a first attachment part for joining one end of the expansion / contraction means at the end of one structural member, and providing a second attachment part for joining the other end of the expansion / contraction means to the other structural member;
Joining the end of the one structural member to the other structural member in a rotatable manner;
End portions of expansion / contraction means including a flat substrate and a film-type piezoelectric element fixed to both side surfaces of the substrate and expanding / contracting the substrate in accordance with an applied voltage are provided as the first attachment portion and the second attachment portion. Bonding each to
Installing a detecting means for detecting an expansion / contraction amount of the one structural member that is deformed by an external force between the one structural member or the first mounting portion and the second mounting portion;
Installing a control means for outputting a signal for expanding and contracting the one structural member to the expansion and contraction means based on the expansion and contraction amount detected by the detection means;
A method of constructing a damping structure having