JP2013087857A - Vibration damping system and vibration damping method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable gain setting more simply in a vibration damping system, and allow the system to perform damping control against an earthquake more effectively.SOLUTION: A control device 300 controls a mass 112 to move relatively to a building BIL so as to offset at least one of displacement of the building BIL caused by displacement of the ground GND and velocity of the building BIL according the velocity of the ground GND. Thus, influence of the earthquake to the building BIL can be reduced to reduce shaking of the building BIL. That is, vibration control against the earthquake can be more effectively done. In addition, many gains need not be set when compared with a vibration control system for changing over the gain, since it is not necessary to change over the gain. Therefore, the gain can be more simply set.

Description

  The present invention relates to a vibration damping system and a vibration damping method.

In a structure such as a high-rise building, there are AMD (Active Mass Damper) and HMD (Hybrid Mass Damper) as a vibration control device that reduces the unpleasant feeling of residents by reducing the shaking caused by wind. In AMD and HMD, an additional mass called a mass is moved by a motor, and the shaking of the building is reduced by the reaction force of the force that the motor acts on the mass (inertial reaction force when accelerating the mass).
On the other hand, in the case of an earthquake, the structure shakes more than in the case of wind, and the mass may exceed the movable range (stroke limit). Also, the period of earthquakes is usually different from the natural vibration period of structures in the case of wind, and some AMDs and HMDs cannot sufficiently cope with the period of earthquakes. For this reason, in general AMD and HMD, the active vibration suppression control with respect to the earthquake was not performed.

In addition, in contrast to the point that the mass may exceed the movable range in the event of an earthquake, the vibration damping device described in Patent Document 1 is detected from a sensor that detects displacement of a structure and a seismometer that detects seismic waves. A drive signal is generated based on the signal, and the actuator is driven by the drive signal to move the additional mass to suppress the vibration of the structure. When it is determined that the displacement of the mass exceeds the operating range in which the additional mass can be moved, an additional mass stop means is provided for controlling the actuator so that the additional mass stops within the operating range.
As a result, it is possible to prevent the additional mass from colliding with the stopper to vibrate the structure, and furthermore, when the vibration of the structure is reduced because the vibration suppression mode is continued without shutting off the power source. It is said that the vibration control operation can be performed immediately and the vibration can be controlled in a short time.

Further, the vibration damping device described in Patent Document 2 generates a drive signal based on a detection signal from a sensor that detects the displacement of a structure and a seismometer that detects a seismic wave, and adds an actuator by driving the actuator with the drive signal. The vibration damping device that moves the mass and suppresses the vibration of the structure includes a gain switching unit that switches a control gain of a control system that drives and controls the actuator according to the magnitude of an external force that vibrates the structure.
Thereby, it is supposed that the vibration of the structure can be suppressed by the vibration control force adapted to the magnitude of the vibration of the structure. For this reason, the control gain is switched so that the additional mass moves slowly when it is slowly shaken, for example, due to wind vibrations, and when an excessive displacement such as an earthquake is input, the structure is vibrated due to the earthquake. It is said that the vibration of the structure can be efficiently controlled in a short time by switching the control gain so as to suppress the vibration.

JP-A-5-231025 Japanese Patent Laid-Open No. 5-231026

However, since the vibration damping device described in Patent Document 1 stops the additional mass when it is determined that the additional mass exceeds the movable range, such as when an earthquake occurs, active vibration suppression control for the earthquake is performed. In this respect, effective damping control against earthquakes cannot be performed.
Further, Patent Document 2 describes obtaining a gain that minimizes an evaluation function in LQ control, but the amount of calculation becomes enormous. Accordingly, obtaining each of the gains to be switched by the method disclosed in Patent Document 2 is a burden on the person who sets the gain.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a vibration suppression system capable of more easily setting a gain and more effectively performing vibration suppression control for an earthquake. The purpose is to provide a vibration control method.

  The present invention has been made to solve the above-described problems, and a vibration damping system according to an aspect of the present invention includes a first sensor that detects at least one of a displacement or a speed of a structure installed on the ground, A control unit that generates a control signal based on a detection signal with a second sensor that detects at least one of a displacement or a velocity of an additional mass supported so as to be movable relative to the structure; A vibration control system for controlling the structure by moving the additional mass relative to the structure by operating the structure, wherein the control unit is configured to displace the structure due to the displacement of the ground or the ground. Generating the control signal for moving the additional mass relative to the structure so as to cancel at least one of the speeds of the structure due to the speed of

  The vibration suppression system according to an aspect of the present invention is the above-described vibration suppression system, wherein at least the displacement of the structure is detected, and the second sensor detects at least the displacement of the additional weight, and the control The unit sets a displacement obtained by performing predetermined weighting on the ground displacement as a target value of the displacement of the additional mass based on at least a detection signal of the third sensor that detects the displacement of the ground. Thus, the control signal for moving the additional mass relative to the structure is generated so as to cancel the displacement of the structure due to the displacement of the ground.

  The vibration suppression system according to one aspect of the present invention is the vibration suppression system described above, wherein the first sensor detects at least the speed of the structure, and the second sensor detects at least the speed of the additional weight. And the control unit obtains a speed obtained by performing a predetermined weighting on the ground speed based on at least a detection signal of a third sensor for detecting the ground speed. The control signal for moving the additional mass relative to the structure is generated so as to cancel the speed of the structure due to the speed of the ground.

  The vibration suppression system according to an aspect of the present invention is the vibration suppression system described above, wherein the control unit is configured to set a ratio of the weight of the additional mass to a total of the weight of the additional mass and the weight of the structure. The predetermined weighting is performed.

  The vibration damping method according to one aspect of the present invention includes at least one of a displacement or a speed of a structure installed on the ground, and at least one of a displacement or a speed of an additional mass supported so as to be relatively movable on the structure. The vibration damping method of the vibration damping system for damping the structure by moving the additional mass relative to the structure based on the displacement of the structure or the displacement of the ground The additional mass is moved relative to the structure so as to cancel at least one of the speeds of the structure due to speed.

  According to the present invention, the gain can be set more easily, and the vibration control for the earthquake can be more effectively performed.

It is an arrangement plan showing an example of arrangement of a vibration damping system in one embodiment of the present invention. It is a schematic block diagram which shows the function structure of the vibration suppression system in the embodiment. In the same embodiment, it is a flowchart which shows the example of the process sequence which a control apparatus produces | generates a control signal. It is explanatory drawing which shows the example of the control object model in the embodiment. It is explanatory drawing which shows the simulation result of the vibration suppression control which the vibration suppression system in the embodiment performs in the graph of a time response. It is a schematic block diagram which shows the function structure of the vibration suppression system which switches a control gain according to the magnitude | size of the external force which vibrates a structure. It is explanatory drawing which shows the simulation result of the vibration suppression control which the vibration suppression system in the embodiment performs in the graph of a frequency characteristic.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a layout diagram showing the layout of a vibration damping system according to an embodiment of the present invention. In FIG. 1, the vibration damping system 1 includes a vibration damping device 110 and a control device (control unit) 300. The vibration damping device 110 includes a motor 111 and a mass (additional mass) 112. The vibration control device 110 and the control device 300 are installed in a building BIL, and the building BIL is installed on the ground GND. The first sensor unit 210 is installed in the building BIL, the second sensor unit 220 is installed in the motor 111, and the third sensor unit 230 is installed in the ground GND.

The building BIL is a high-rise building and vibrates due to an earthquake or wind. Therefore, the vibration damping system 1 dampens the building BIL by moving the mass 112, which is an additional mass, relative to the building BIL.
The motor 111 moves the mass 112 by rotating its own shaft. For example, the motor 111 has a screw (bolt) -like shaft, and the mass 112 has a screw-hole (nut) -like opening. Then, the motor 111 performs a screw tightening operation or a screw loosening operation by rotating its own shaft, and moves the mass 112 by the operation.
The control device 300 includes the speed and displacement of the building BIL measured by the first sensor unit 210, the speed and displacement of the mass 112 measured by the second sensor unit 220, the speed of the ground GND measured by the third sensor unit 230, and Based on the displacement, the motor 111 generates a control signal for moving the mass 112 and outputs the control signal to the motor 111.

FIG. 2 is a schematic block diagram illustrating a functional configuration of the vibration suppression system 1. In FIG. 1, the vibration damping system 1 includes a vibration damping device 110 and a control device 300. The vibration damping device 110 includes a motor 111 and a mass 112. The control device 300 includes high-pass filters (HPF) 301 to 306, coefficient multiplication units 311 to 312, subtraction units 321 to 322, gain multiplication units 331 to 334, and addition units 341 to 343. It has.
The vibration damping device 110 is installed in the building BIL, and the building BIL is installed on the ground GND. The high-pass filter 301 acquires a detection signal from the displacement sensor 211, the high-pass filter 302 acquires a detection signal from the speed sensor 212, the high-pass filter 303 acquires a detection signal from the displacement sensor 221, and the high-pass filter 304 is a speed sensor. The high-pass filter 305 acquires the detection signal from the displacement sensor 231, and the high-pass filter 306 acquires the detection signal from the speed sensor 232. The speed sensor 212 and the displacement sensor 211 constitute a first sensor unit 210, the speed sensor 222 and the displacement sensor 221 constitute a second sensor unit 220, and the speed sensor 232 and the displacement sensor 231 constitute a third sensor unit 230. Configure.
In FIG. 2, the same reference numerals (1, 110 to 112, 210, 220, 230, 300, BIL, GND) are assigned to the same parts as those in FIG.

The building BIL is a high-rise building as described above, and is damped by the vibration damping system 1 as an example of a structure installed on the ground in the present invention. However, the vibration suppression target in the present invention is not limited to a building. For example, various structures such as a tower-like structure such as an observation tower and a control tower can be used as the vibration control targets in the present invention.
The ground GND is the ground at the place where the building BIL is installed or the foundation of the building BIL that can be regarded as the ground.

The vibration damping device 110 is installed on the top floor of the building BIL, for example, and supports the mass 112 with respect to the building BIL such that the mass 112 is supported by a multistage pendulum. Further, the vibration damping device 110 supports the motor 111 in a fixed manner with respect to the building BIL.
The motor 111 is an example of a drive unit in the present invention, and operates according to a control signal output from the control device 300. The motor 111 applies a force to the mass 112 by operating according to the control signal, and moves the mass 112 relative to the building BIL.
In addition, the drive part in this invention is not restricted to a motor. For example, the drive unit may include a power source other than a motor such as an engine to move the additional mass.

The mass 112 moves relative to the building BIL by the force applied from the motor 111. The mass 112 applies a reaction force to the force applied from the motor 111 (inertial force when the mass 112 is accelerated by the force applied from the motor 111) to the motor.
Here, since the motor 111 is fixedly supported with respect to the building BIL, the reaction force applied to the motor by the mass 112 is transmitted to the building BIL. The vibration damping device 110 dampens the building BIL using this force.

  As described above, the building BIL is installed on the ground GND, and the mass 112 is installed on the building BIL. Accordingly, the ground GND vibrates the building BIL by vibrating itself due to an earthquake or the like. Further, the building BIL vibrates the mass 112 by itself vibrating due to vibration from the ground GND or the like.

The first sensor unit 210 (measures) detects (measures) at least one of the displacement or speed of the building BIL. In the present embodiment, the first sensor unit 210 detects the displacement and speed of the building BIL with respect to the ground GND (relative displacement and speed with respect to the observation point of the third sensor unit 230). Specifically, the first sensor unit 210 includes a displacement sensor 211 and a speed sensor 212 installed on the top floor of the building BIL, as with the vibration control device 110. The displacement sensor 211 detects the displacement of the building BIL with respect to the ground GND and outputs it to the high-pass filter 301. The speed sensor 212 detects the speed of the building BIL with respect to the ground GND and outputs it to the high pass filter 302.
The installation location of the first sensor unit 210 is not limited to the top floor of the building BIL, and may be any location that exhibits the same vibration as the vibration damping device 110. For example, the vibration control device 110 and the first sensor unit 210 may be installed on a floor other than the top floor, or both may be installed on the roof of the building BIL.

The second sensor unit 220 detects at least one of the displacement or speed of the mass 112. In the present embodiment, the second sensor unit 220 detects the displacement and speed of the mass 112 relative to the building BIL (relative displacement and speed relative to the observation point of the first sensor unit 210). Specifically, the second sensor unit 220 includes a displacement sensor 221 and a speed sensor 222 provided in the motor 111. The displacement sensor 221 detects the displacement of the mass 112 relative to the building BIL by measuring the rotation amount (rotation angle) of the motor 111 and outputs it to the high-pass filter 303. The speed sensor 222 detects the speed of the building BIL relative to the building BIL based on the rotation amount measurement value of the motor 111 per predetermined time, and outputs it to the high-pass filter 302.
The installation location of the second sensor unit 220 is not limited to the motor 111, and may be any location where the displacement and speed of the mass 112 can be detected. For example, the second sensor unit 220 may be installed on the mass 112.

The third sensor unit 230 detects at least one of the displacement or speed of the ground GND. In the present embodiment, the third sensor unit 230 detects the displacement and speed (displacement and speed from the steady state) of the ground GND. Specifically, the third sensor unit 230 includes a displacement sensor 231 and a speed sensor 232 provided on the foundation of a building BIL that can be viewed with the ground. The displacement sensor 231 detects the displacement of the ground GND and outputs it to the high pass filter 305. The speed sensor 232 detects the speed of the ground GND and outputs it to the high pass filter 306.
The installation location of the third sensor unit 230 is not limited to the foundation of the building BIL, but may be any location where the displacement and speed of the ground GND as the ground at the location where the building BIL is installed can be measured. For example, the third sensor unit 230 may be installed on the ground around the building BIL.

The control device 300 generates a control signal based on detection signals from the first sensor unit 210 and the second sensor unit 220.
More specifically, the control device 300 causes the mass 112 to be relative to the building BIL so as to cancel at least one of the displacement of the building BIL due to the displacement of the ground GND or the velocity of the building BIL due to the velocity of the ground GND. A control signal to be moved is generated. In the present embodiment, the control device 300 causes the mass 112 to move relative to the building BIL so as to offset the displacement of the building BIL caused by the displacement of the ground GND and the velocity of the building BIL caused by the velocity of the ground GND. Is generated.

More specifically, the control device 300 calculates the displacement obtained by performing predetermined weighting on the displacement of the ground GND on the basis of the detection signal of the third sensor unit 230 (displacement sensor 231). By setting to the target value, a control signal for moving the mass 112 relative to the building BIL so as to cancel the displacement of the building BIL due to the displacement of the ground GND is generated. Further, the control device 300 sets the speed obtained by performing predetermined weighting on the speed of the ground GND based on the detection signal of the third sensor unit 230 (speed sensor 232) as the target value of the speed of the mass 112. By setting, a control signal for moving the mass 112 relative to the building BIL is generated so as to cancel the speed of the building BIL due to the speed of the ground GND. Here, the control device 300 uses the weight of the mass 112 with respect to the sum of the weight of the mass 112 and the weight of the building BIL, and the predetermined weight (the weight for the displacement of the ground GND and the speed of the ground GND). Weighting).
The control device 300 outputs the generated control signal to the motor 111 to operate the motor 111.

  All of the high-pass filters 301 to 306 are related to the case where an offset is included in the measured values of the sensors (the displacement sensor 211, the speed sensor 212, the displacement sensor 221, the speed sensor 222, the displacement sensor 231, and the speed sensor 232, respectively). It is a filter that removes the offset. The high-pass filters 301 to 306 output the measurement values from which the offset is removed to the gain multipliers 331 to 331 and the high-pass filters 305 to 306, respectively.

  The coefficient multipliers 311 to 312 respectively output the weight of the mass 112 with respect to the sum of the weight of the mass 112 and the weight of the bill BIL with respect to the measurement values output from the high pass filters 305 to 305 from which the offset is removed Is weighted (multiplication of coefficients). The coefficient multiplication units 311 to 312 output the weighted measurement values to the subtraction units 321 to 322, respectively.

The subtraction unit 321 subtracts the weighted ground GND displacement output from the coefficient multiplication unit 311 from the displacement of the mass 112 from which the offset is removed, which is output from the high pass filter 303, and outputs the result to the gain multiplication unit 333. .
The subtractor 322 subtracts the weighted ground GND speed output from the coefficient multiplier 312 from the offset of the mass 112 output from the high-pass filter 304 and outputs the result to the gain multiplier 334. .

The gain multiplication unit 331 multiplies the displacement of the building BIL from which the offset is removed, which is output from the high-pass filter 301, by a gain constant, and outputs the result to the addition unit 341.
The gain multiplication unit 332 multiplies the speed of the bill BIL from which the offset is removed, which is output from the high pass filter 302, by a gain constant, and outputs the result to the addition unit 341.
The gain multiplication unit 333 multiplies the displacement of the mass 112 weighted by the displacement of the ground GND output from the subtraction unit 321 by the gain constant, and outputs the result to the addition unit 342.
The gain multiplication unit 334 multiplies the speed of the mass 112, which is output by the subtraction unit 322 and weighted and added to the speed of the ground GND, by a gain constant, and outputs the result to the addition unit 343.

The adder 341 adds the displacement of the bill BIL multiplied by the gain output from the gain multiplier 331 and the speed of the bill BIL multiplied by the gain output from the gain multiplier 332 to add the adder 342. Output to.
The adding unit 342 adds the value output from the adding unit 341 and the value output from the gain multiplying unit 333 and weighted by subtracting the displacement of the ground GND from the displacement of the mass 112 and multiplying by the gain. Output to the unit 343.
The adding unit 343 adds the value output from the adding unit 342 and the value output from the gain multiplying unit 334 and weighted by subtracting the speed of the ground GND from the speed of the mass 112 and multiplying by the gain. The signal is output to the motor 111 as a signal.
As described above, the control apparatus 300 subtracts the displacement of the ground GND multiplied by the coefficient and the speed of the ground GND multiplied by the coefficient from the displacement of the mass 112 and the speed of the mass 112, respectively, and multiplies the gain. Then, the control signal is generated by adding these values and the values obtained by multiplying the displacement of the bill BIL and the speed of the bill BIL by a coefficient, and output to the motor 111.

The control device 300 may be realized by a computer. That is, each unit of the control device 300 may be realized by a central processing unit (Central Processing Unit) reading and executing a program from a storage device.
Or each part of the control apparatus 300 may be implement | achieved by the circuit for exclusive use. For example, each of the high-pass filters 301 to 306 may be configured using a filter circuit including a capacitor and a resistor to remove the offset (DC component) of the sensor measurement value indicated by the current magnitude. The coefficient multipliers 311 to 312, the subtractors 321 to 322, the gain multipliers 331 to 334, and the adders 341 to 343 are each configured using a power amplifier, and the magnitude of the input current. Various calculations may be performed by converting.

Next, the operation of the vibration damping system 1 will be described with reference to FIG.
FIG. 3 is a flowchart illustrating an example of a processing procedure in which the control device 300 generates a control signal. The control device 300 repeatedly performs the process shown in the figure in the operating state in which the power supply is connected (ON).
In the process of FIG. 6, first, each of the high-pass filters 301 to 306 acquires a detection value (measurement value) by acquiring a detection signal output from the sensor (step S111). Then, each of the high pass filters 301 to 306 removes the offset from the acquired detection value (step S112).

Next, the coefficient multiplier 311 multiplies the displacement of the ground GND from which the high-pass filter 305 has removed the offset by a coefficient, and the coefficient multiplier 312 calculates the coefficient to the speed of the ground GND from which the high-pass filter 306 has removed the offset. Multiply (step S113).
Then, the subtraction unit 321 sets the target value of the displacement of the mass 112 by subtracting the displacement of the ground GND multiplied by the coefficient by the coefficient multiplication unit 311 from the displacement of the mass 112 from which the high-pass filter 303 has removed the offset. The subtraction unit 322 sets the target value of the speed of the mass 112 by subtracting the speed of the ground GND multiplied by the coefficient by the coefficient multiplication unit 312 from the speed of the mass 112 from which the high-pass filter 304 has removed the offset. (Step S114). The setting of the target value by subtraction will be described later.

Also, the gain multiplication unit 331 to the gain multiplication unit 334 acquire the processing results of the high-pass filter 301, the high-pass filter 302, the subtraction unit 321, and the subtraction unit 322, respectively, and multiply the gain (step S115).
Then, the addition units 341 to 343 add the processing results of the gain multiplication units 331 to 334 to generate a control signal and output the control signal to the motor 111.
Thereafter, the process of FIG. 5 ends, and the motor 111 moves the mass 112 in accordance with the control signal output from the control device 300 (adder 343).

Next, vibration suppression control performed by the control device 300 will be described with reference to FIGS.
FIG. 4 is an explanatory diagram illustrating an example of a control target model. As shown in the figure, the force acting between the ground GND and the building BIL is approximated using a spring constant K ₁ and a damping coefficient (damper coefficient) C ₁ . Here, the building BIL is regarded as one rigid body, and approximation is performed assuming that the entire building BIL generates a displacement by applying a force to the ground GND.
Further, the force acting between the building BIL and the mass 112, an approximation using the spring constant K ₂ and the damping coefficient (damper coefficient) C ₂ and the control force f. The control force f here is a force that the motor 111 applies to the mass 112 to move the mass 112.

In addition, the x axis is taken in one of the horizontal directions, and the displacement of the ground GND in the x axis direction is denoted by _xg . Here, the value of the displacement _xg in a steady state (a stable state in which all of the ground GND, the building BIL, and the mass 112 are stationary) is 0, and the displacement is indicated.
Further, in the x-axis direction, showing the displacement of the building BIL with respect to the ground GND by _{x 1.} Here, representing the displacement value of the displacement x ₁ in the steady state as zero.
Further, in the x-axis direction, showing the displacement of the mass 112 relative to the building BIL in _{x 2.} Here, representing the displacement value of the displacement x ₂ in the steady state as zero.

  When the force in the building BIL is expressed by an expression based on the model shown in FIG. 4, the expression (1) is obtained.

Here, the constant m ₁ indicates the mass of the bill BIL.
In addition, one dot (•) added on the variable indicates a first-order time differentiation, and two dots added on the variable indicate a second-order time differentiation. Hereinafter, in the text, the time differential of the first floor is indicated by adding “′” to the right of the variable. For example, the first derivative of the displacement _{x 1} of the building BIL, i.e., denoted the speed of building BIL as _{"x 1} ''. In addition, the second-order time derivative is indicated with “” ”to the right of the variable. For example, the second derivative of the displacement x ₁ of the building BIL, that is, the acceleration of the building BIL is expressed as “x ₁ ″”.

The left side of the formula (1) indicates the inertial force of the building BIL. In addition, the first and second terms on the right side of Equation (1) indicate the force that the building BIL applies to the ground GND. In addition, the third to fifth terms on the right side of Equation (1) indicate the force that the bill BIL applies to the mass 112.
Moreover, when the force in the mass 112 is expressed by an equation, the equation (2) is obtained.

Here, the constant m ₂ indicates the mass of the mass 112.
The left side of Expression (2) indicates the inertial force of the mass 112. Moreover, the right side of Formula (2) shows the force which the mass 112 applies to the building BIL.

  When this equation (2) is transformed, the following equation (3) is obtained.

  When Expression (3) is substituted into the right side of Expression (1), Expression (4) is obtained.

  Further, when equation (4) is modified, equation (5) is obtained.

Here, each term on the left side of Expression (5) is a force according to the acceleration, displacement, and speed of the building BIL, that is, a force according to the state of the building BIL itself. Therefore, if the right side of Equation (5) is set to 0, the force (earthquake disturbance) applied to the building BIL by the acceleration x _g ″ of the ground GND is applied to the building BIL by the acceleration x ₂ ″ of the mass 112. Can be offset by the applied force. That is, it is possible to reduce the influence of the force caused by the earthquake on the building BIL, and ideally, the force caused by the earthquake can be prevented from affecting the building BIL.
Therefore, if the right side of Expression (5) is changed to 0, Expression (6) is obtained.

This equation (6) is for the mass 112 to prevent the acceleration x ₂ ″ of the mass 112 from setting the right side of the equation (5) to 0 so that the force due to the earthquake does not affect the building BIL. The acceleration x ₂ ″ is indicated by a relative value with respect to the acceleration x _g ″ of the ground GND.
In the following, the displacement _{xg of the} ground GND is approximated by a sine wave with respect to time (a · sin (ωt + θ), where constants a, ω, and θ represent amplitude, frequency, and phase, respectively).
Then, an expression obtained by first-order integrating Expression (6) with time becomes Expression (7).

However, the constant C in Formula (7) shows an integral constant. This integration constant C indicates an offset at the velocity x ₂ ′ of the mass 112. Since the control device 300 uses the high-pass filter 304 to remove the offset from the velocity of the mass 112, the equation (8) is obtained by removing the offset from the equation (7).

  Further, when the equation (8) is integrated by time with the first order, the equation (9) is obtained.

However, the constant C in Formula (9) shows an integral constant. The integration constant C indicates an offset in the displacement _{x 2} mass 112. Since the control device 300 uses the high-pass filter 303 to remove the offset from the velocity of the mass 112, the equation (10) is obtained by removing the offset from the equation (9).

Therefore, the control device 300 sets a target value (control target) for the displacement of the mass 112 based on Expression (8), and sets a target value for the speed of the mass 112 based on Expression (10). Thus, the control device 300 cancels the force (earthquake disturbance) applied to the building BIL by the acceleration x _g ″ of the ground GND with the force applied to the building BIL by the acceleration x ₂ ″ of the mass 112. The vibration control device 110 is controlled.
Specifically, the coefficient multiplication unit 311 multiplies the displacement of the ground GND from which the offset is removed, which is output from the high-pass filter 305, by a coefficient represented by Expression (11), and outputs the result to the subtraction unit 321.

  Then, the subtraction unit 321 calculates the displacement of the ground GND output by the coefficient multiplication unit 311 and multiplied by the coefficient (ie, weighted) from the displacement of the ground GND from which the offset is removed, which is output from the high pass filter 303. By subtracting, the value output from the high-pass filter 303 is set as a target value for the displacement of the mass 112.

Also, the coefficient multiplication unit 312 multiplies the speed of the ground GND from which the offset is removed, which is output from the high-pass filter 306, by the coefficient represented by Expression (11), and outputs the result to the subtraction unit 322.
Then, the subtraction unit 322 calculates the speed of the ground GND output by the coefficient multiplication unit 312 and multiplied by the coefficient (that is, weighted) from the speed of the ground GND from which the offset is removed, which is output from the high pass filter 304. By subtracting, the value output from the high-pass filter 304 is set as a target value for the speed of the mass 112.

Here, this inventor confirmed the state of the vibration suppression control which the vibration suppression system 1 performs by simulation.
FIG. 5 is an explanatory diagram showing a state of vibration suppression control performed by the vibration suppression system 1 in a time response graph. A line L111 in FIG. 4A indicates the acceleration of the ground GND. The horizontal axis of the figure (a) shows the elapsed time from the simulation start time, and the vertical axis shows the acceleration.
In addition, a line L121 in FIG. The horizontal axis of the figure (b) shows the elapsed time from the simulation start time, and the vertical axis shows the displacement.
Moreover, the line L131 in the figure (c) shows the displacement of building BIL. The horizontal axis of the figure (b) shows the elapsed time from the simulation start time, and the vertical axis shows the displacement.

Lines L122 and L123 indicate simulation results of vibration suppression control performed by the vibration suppression system illustrated in FIG. 6 as an example of a comparison target.
FIG. 6 is a schematic block diagram illustrating a functional configuration of a vibration damping system that switches a control gain according to the magnitude of an external force that vibrates a structure as an example of a comparison target. In the figure, a vibration suppression system 1002 includes a vibration suppression device 1110 and a control device 2300. The vibration damping device 1110 includes a motor 1111 and a mass 1112. The control device 2300 includes high-pass filters 1261-1264, gain multipliers 2331-2334, and adders 1341-1343. Further, the vibration control device 1110 is installed in the building BIL, and the building BIL is installed on the ground GND. The displacement sensor 1211 and the speed sensor 1212 detect the displacement and speed of the building BIL, respectively. The displacement sensor 1221 and the speed sensor 1222 detect the displacement and speed of the mass 112, respectively. Speed sensor 1232 detects the speed of ground GND.

Unlike the vibration suppression system 1, the vibration suppression system 1002 does not perform a process of setting target values of the displacement and speed of the mass 112 based on the displacement and speed of the ground GND, and performs control with these target values set to zero.
Further, the vibration suppression system 1002 determines whether or not the magnitude of the external force that vibrates the structure is larger than a predetermined threshold based on the acceleration of the ground GND detected by the acceleration sensor, and determines that it is larger than the threshold. If it occurs (for example, when an earthquake occurs), the vibration suppression control is performed by switching to a smaller gain than when it is determined that it is equal to or less than the threshold.

  A line L122 in FIG. 5B indicates the displacement of the mass 1112 in the vibration suppression control performed by the vibration suppression system 1002 (FIG. 6). A line L132 in FIG. 5C indicates the displacement of the building BIL in the vibration suppression control performed by the vibration suppression system 1002.

  Referring to FIG. 5C, the vibration suppression control performed by the vibration suppression system 1 has a smaller amplitude of the building BIL than the vibration suppression control performed by the control system 1002. In other words, the vibration suppression system 1 can more effectively perform the vibration suppression control for the earthquake than the control system 1002.

FIG. 7 is an explanatory diagram showing a state of vibration suppression control performed by the vibration suppression system 1 in a graph of frequency characteristics. The horizontal axis of the graph in the figure represents the frequency, and the vertical axis represents the building displacement / ground displacement (that is, the relative magnitude of the building displacement with respect to the ground displacement).
A line L311 indicates a simulation result of vibration suppression control performed by the vibration suppression system 1. A line L321 indicates a simulation result of vibration suppression control performed by the vibration suppression system 1002 (FIG. 6) as a comparison target. Further, a line L322 shows, as another comparison object, a simulation result in a case where the motor is free run and the pendulum moves freely (that is, in the case of passive control by TMD (Tuned Mass Damper)). Indicates. A line L323 shows a simulation result when the mass is fixed so as not to move as another comparison object (that is, when the vibration control device is not operated).

  As shown in FIG. 7, the displacement of the building in the case of the vibration suppression system 1 is the smallest. That is, the vibration suppression system 1 can most effectively perform the vibration suppression control with respect to the earthquake. For example, around the frequency with the largest displacement (around 0.2 Hz), the displacement of the building in the case of the vibration suppression system 1 is about half of the displacement of the building in the case of the vibration suppression system 1002.

As described above, the control device 300 moves the mass 112 relative to the building BIL so as to cancel at least one of the displacement of the building BIL caused by the displacement of the ground GND or the velocity of the building BIL caused by the velocity of the ground GND. To control.
Thereby, the vibration suppression system 1 can be controlled so that the force (earthquake disturbance) applied by the ground GND to the building BIL is canceled by the force applied by the mass 112 to the building BIL. That is, it is possible to reduce the influence of the force on the building BIL due to the earthquake, and to reduce the shaking of the building BIL. That is, vibration control for earthquakes can be performed more effectively.
Moreover, in the vibration suppression system 1, since it is not necessary to switch a gain, it is not necessary to set many gains compared with the case of the vibration suppression system which switches a gain. Therefore, the vibration suppression system 1 can set the gain more easily.
In addition, in a state where the ground is not shaken, the target value of the displacement of the mass 112 and the target value of the speed of the mass 112 are set to 0, respectively, and the vibration suppression system 1 causes the vibration of the building BIL due to the wind. On the other hand, vibration can be controlled appropriately.

Further, the control device 300 sets a displacement obtained by performing predetermined weighting on the displacement of the ground GND as a target value of the displacement of the mass 112, thereby canceling the displacement of the building BIL due to the displacement of the ground GND. As described above, the mass 112 is controlled to move relative to the building BIL.
Thereby, the vibration suppression system 1 can set the control target by a simple process of subtracting the displacement of the ground GND multiplied by the coefficient from the displacement of the mass 112. Therefore, when each part of the control device 300 is configured on a computer, the load on the computer can be reduced, and when each part of the control device 300 is configured with a dedicated circuit, the circuit configuration can be simplified.

In addition, the control device 300 sets the speed obtained by performing predetermined weighting on the speed of the ground GND as a target value of the speed of the mass 112, thereby canceling the speed of the building BIL by the speed of the ground GND. As described above, the mass 112 is controlled to move relative to the building BIL.
Thereby, the vibration suppression system 1 can set the control target by a simple process of subtracting the speed of the ground GND multiplied by the coefficient from the speed of the mass 112. Therefore, when each part of the control device 300 is configured on a computer, the load on the computer can be reduced, and when each part of the control device 300 is configured with a dedicated circuit, the circuit configuration can be simplified.

Further, the control device 300 performs predetermined weighting on the ratio of the weight of the mass 112 to the sum of the weight of the mass 112 and the weight of the building BIL. Specifically, the coefficient multiplication unit 311 and the coefficient multiplication unit 312 each perform multiplication of the coefficient shown in Expression (11).
Thereby, the coefficient set to the coefficient multiplier 311 and the coefficient multiplier 312 can be easily calculated based on the equation (11). Therefore, the burden of setting the coefficient can be reduced.

  Various methods can be used as the gain setting method of the gain multipliers 331 to 334. For example, as shown in Patent Document 2, a gain that minimizes an evaluation function in LQ control may be obtained, and the obtained gain may be set in the gain multipliers 331 to 334.

When there is a possibility that the mass 112 may exceed the movable range, the mass 112 may be temporarily stopped, or the gains of the gain multipliers 331 to 334 may be switched to a relatively small value. Good.
Thereby, in the state where the mass 112 is operating, the shaking of the building BIL can be more effectively reduced, and the mass 112 can be prevented from colliding with the stopper beyond the movable range.

  Further, the positions of the subtraction unit 321 and the subtraction unit 322 are not limited to the positions illustrated in FIG. For example, the value output from the coefficient multiplier 311 may be multiplied by the same gain as the gain set in the gain multiplier 333, and the obtained calculation result may be subtracted from the output of the gain multiplier 333.

  Further, the coefficient values in the coefficient multiplier 311 and the coefficient multiplier 312 do not have to be the same as the value obtained by Equation 11. If the coefficient values in the coefficient multiplier 311 and the coefficient multiplier 312 are close to the values obtained by Equation 11, the effect of the force on the building BIL due to the earthquake can be reduced, and the vibration of the building BIL can be reduced. You can expect.

As described above, the control device 300 can be configured using a computer. Accordingly, a program for realizing all or part of the functions of the control device 300 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into the computer system and executed. You may perform the process of. Here, the “computer system” includes an OS and hardware such as peripheral devices.
Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW system is used.
The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory in a computer system serving as a server or a client in that case, and a program that holds a program for a certain period of time are also included. The program may be a program for realizing a part of the functions described above, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design changes and the like without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Damping system 110 ... Damping device 111 ... Motor 112 ... Mass 210 ... 1st sensor part 211, 221, 231 ... Displacement sensor 212, 222, 232 ... Speed sensor 220 ... 2nd sensor part 230 ... 3rd sensor part DESCRIPTION OF SYMBOLS 300 ... Control apparatus 301-306 ... High pass filter 311-312 ... Coefficient multiplication part 321-322 ... Subtraction part 331-334 ... Gain multiplication part 341-343 ... Addition part BIL ... Bill GND ... Ground GND

Claims (5)

A first sensor for detecting at least one of displacement or speed of a structure installed on the ground, and a second sensor for detecting at least one of displacement or speed of an additional mass supported by the structure so as to be relatively movable. A damping unit that includes a control unit that generates a control signal based on the detection signal, and that controls the structure by moving the additional mass relative to the structure by operating the driving unit based on the control signal. A system,
The control unit moves the additional mass relative to the structure so as to cancel at least one of the displacement of the structure due to the displacement of the ground or the speed of the structure due to the speed of the ground. A vibration control system characterized by generating a signal. The first sensor detects at least displacement of the structure, and the second sensor detects at least displacement of the additional weight,
The control unit sets a displacement obtained by performing predetermined weighting on the displacement of the ground as a target value of the displacement of the additional mass based on at least a detection signal of a third sensor that detects the displacement of the ground. The control signal for moving the additional mass relative to the structure so as to cancel out the displacement of the structure due to the displacement of the ground by setting is generated. Vibration suppression system. The first sensor detects at least the speed of the structure; the second sensor detects at least the speed of the additional weight;
The control unit sets a speed obtained by performing predetermined weighting on the speed of the ground based on a detection signal of at least a third sensor for detecting the speed of the ground as a target value of the speed of the additional mass. The control signal for moving the additional mass relative to the structure so as to cancel the speed of the structure due to the speed of the ground by setting is generated. Item 3. The vibration control system according to item 2.   The said control part performs the said predetermined weighting in the ratio of the weight of the said additional mass with respect to the sum total of the weight of the said additional mass, and the weight of the said structure, The Claim 2 or Claim 3 characterized by the above-mentioned. Vibration suppression system. Based on at least one of the displacement or speed of a structure installed on the ground and at least one of the displacement or speed of an additional mass supported so as to be relatively movable on the structure, the additional mass is transferred to the structure. A vibration damping method of a vibration damping system for damping the structure by relatively moving the structure,
The additional mass is moved relative to the structure so as to cancel at least one of the displacement of the structure due to the displacement of the ground or the speed of the structure due to the speed of the ground. Method.

Images