JP2015004374A - Hydraulic driving device for seismic control device, seismic control device and seismic control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate necessity in an active type seismic control system for always continuously supplying pressure liquid from a pressure accumulator during vibration of a structure and enable a surplus control power to be outputted efficiently further.SOLUTION: This invention relates to a driving device 2 for outputting a control force to be applied to a structure by using pressure liquid got from a source of energy 1 storing pressure liquid. The driving device 2 comprises: a cylinder 21 filled with pressure liquid; a piston 22 reciprocated in the cylinder 21; a servo valve 25 connected between each of cylinder chambers 23 and 24 at both sides holding the piston 22 and the source of energy 1 for controlling a flowing of pressure liquid within the source of energy 1 into each of the cylinder chambers 23 and 24; and a flow rate control valve 26 connected between the cylinder chambers 23 and 24 at both sides so as to control the amount of motion of pressure liquid between the cylinder chambers 23 and 24 at both sides.

Description

  The present invention relates to a hydraulic drive device for a vibration control device that outputs pressure as a control force to be applied to a structure using pressure fluid from an energy source that stores pressure fluid, a vibration control device including the same, and the use of the same. The present invention relates to a vibration control system that suppresses vibrations of structures.

  For example, vibration energy input to a structure when an external force is applied, such as an earthquake, is stored as fluid energy to generate a control force that suppresses the vibration of the structure, and the stored fluid energy is controlled from a drive device (actuator). The energy conversion type active seismic control method (seismic control system) that outputs to the structure as force can effectively use the vibration energy accumulated in the structure for its own vibration suppression, and can reduce the energy from the outside. There is an advantage that vibration can be suppressed according to the degree of vibration generated in the structure without requiring supply (see Patent Documents 1 to 3).

  This type of vibration control system includes a converter (hydraulic cylinder) that converts vibration energy into fluid energy, a pressure accumulator (accumulator) that stores fluid energy, and fluid energy as disclosed in Patent Document 3. A driving device (hydraulic actuator) that is generated as a control force and a recovery device (hydraulic tank) that recovers the fluid released from the driving device when the control force is generated.

  The conversion device is a hydraulic cylinder such as a hydraulic cylinder having a cylinder chamber that is divided across a piston that reciprocates in the cylinder, and receives pressure fluid such as pressurized oil that has received an external force input to the structure. Send to the accumulator. The pressure accumulator once accumulates the pressure fluid as fluid energy, and then sends the pressure fluid to the drive device when the control force of the drive device is generated, and the drive device applies the control force to the structure or the seismic element in the structure. The drive device is a hydraulic actuator such as a hydraulic actuator that has a cylinder chamber divided across a piston that reciprocates in the cylinder, and controls the pressure according to the difference in the amount of hydraulic fluid supplied to the cylinder chambers on both sides. Occurs as.

  FIG. 9A shows the flow of the hydraulic fluid from the energy source to the driving device when a hydraulic pump is used as the energy source. The amount of pressurized fluid from the energy source is distributed to each cylinder chamber of the drive device by the servo valve according to the magnitude of the control force to be generated by the drive device.

  In FIG. 9- (a), when the servo valve is opened, Q1 + Q3 amount of pressurized fluid is sent to the driving device, Q2 + Q4 amount of pressurized fluid is recovered by the recovery device, and Q1-Q2 and Q3-Q4 amounts of pressurized fluid are collected. Is shown being supplied to the cylinder chambers on both sides of the drive unit. (B) shows the details of the servo valve in (a). A pressure Pa1 corresponding to Q1-Q2 and a pressure Pa2 corresponding to Q3-Q4 are generated in each cylinder chamber of the drive device, and a difference between these pressures is applied to a structure or the like as a control force. The pressurized liquid after the driving device generates the control force is recovered by a recovery device such as a hydraulic tank and reused by the energy source.

JP 11-94013 A (Claim 1, paragraphs 0008 to 0015, FIGS. 1 to 3) Japanese Patent Laid-Open No. 11-247489 (Claim 1, paragraphs 0022 to 0030, FIGS. 3 and 4) JP-A-2005-214304 (Claim 1, paragraphs 0023 to 0033, FIGS. 1 to 4)

  Even if the control force generated by the drive device is divided into two time zones as shown below, each of the above examples is efficient using two time zones. It has not yet reached the stage of presenting a method for generating a sufficient control force.

  In the active type vibration control system, as shown in FIGS. 2A to 2C, the response of each layer or the upper structure is received from each layer of the structure or from a driving device installed between the lower structure and the upper structure. Control (feedback control) is performed in which a control force proportional to the speed is applied to each layer or superstructure. As an index indicating the result of the feedback control, the time history of the control force is shown in FIGS. As shown here, when the control force is generated, the drive unit is applying force to the structure to cancel the vibration (swing) of the structure, the “vibration” time zone indicated by the solid line, and “vibration” Although it is divided into “absorption” time zones indicated by broken lines, which generate a resistance force for suppressing the shaking of structures other than the above, the control force is generated in any time zone. (A), (b), and (c) show the results when the control gain G is set to 10, 20, and 30, respectively.

  3 (a) to (c), the greater the control gain, the more “vibration” time zones and the greater the absolute value of the control force. This is higher due to the application of the control force. It means that more pressure fluid must be supplied from the pressure accumulator which is an energy source for the generation of the control force so as to obtain the vibration control effect. Simultaneously with the supply, discharge of the pressurized liquid to the recovery device after being used in the drive device is also accompanied.

  Generating a control force requires supplying a large amount of pressurized fluid from an energy source (pressure accumulator), and this is also true for “absorption” time zones other than “vibration”. During the vibration of the object, the pressurized liquid is continuously supplied from the energy source. As a result, the supply of pressurized fluid may not be able to catch up, a sufficiently large control force may not be generated, and it may be assumed that the damping effect is reduced due to a lack of control force. No countermeasures are prepared for this situation.

  From the above background, the present invention eliminates the need to constantly supply pressure fluid from a pressure accumulator during vibration of a structure in the above-described energy conversion type and other active type seismic control systems in general, and is more efficient. The present invention proposes a hydraulic drive device for a vibration control device, a vibration control device, and a vibration control system that make it possible to output a sufficient control force.

The hydraulic drive device for a vibration control device of the invention according to claim 1 is a drive device that outputs a control force to be applied to a structure using a pressure fluid from an energy source in which the pressure fluid is stored,
A cylinder filled with pressure fluid, a piston that reciprocates in the cylinder, and each cylinder chamber on both sides sandwiching the piston and the energy source, and each cylinder of pressure fluid in the energy source And a servo valve that controls inflow into the chamber and a flow rate control valve that is connected between the cylinder chambers on both sides and controls the amount of pressure fluid that moves between the cylinder chambers on both sides. .

  As an energy source for supplying fluid energy to the driving device, a pressure accumulator (accumulator) that retains fluid energy converted from vibration energy is mainly used. However, as shown in FIG. A hydraulic pump or the like that can supply (pressure oil) to the drive device 2 in a high pressure state is also used. In that case, a recovery device 3 such as a hydraulic tank for recovering the fluid used in the drive device 2 and returning it to the hydraulic pump (energy source 1) is disposed between the drive device 2 and the hydraulic pump and connected to both. Is done. Since the hydraulic pump or the like as the energy source 1 in this case does not involve the conversion device (hydraulic cylinder) in Patent Documents 1 to 3, the drive device 2 or the vibration control device 4 including the drive device 2 is not an energy conversion type. .

  When a pressure accumulator (accumulator) 6 is used as the energy source 1, a conversion device (hydraulic cylinder) 5 that converts vibration energy input to the structure into fluid energy as shown in FIG. It arrange | positions between the pressure accumulators 6, and is connected to both. The conversion device 5 generates the vibration energy input to the structure as the pressure (hydraulic pressure) of the fluid (liquid) and sends it to the pressure accumulator 6. The fluid energy in this case indicates the pressure fluid in a state where the fluid pressure has increased, or the energy stored by being converted from the fluid pressure. The pressure fluid is mainly pressure oil, and the converter (hydraulic pressure cylinder) 5 is mainly a hydraulic cylinder. In this case, the energy source 1 stores the fluid energy converted from the vibration energy input to the structure, and supplies the fluid energy to the driving device 2 as pressurized liquid (Claim 2). Therefore, the driving device 2 or the driving device 2 The vibration control device 4 including the energy conversion type.

  The pressure accumulating device 6 sends the accumulated fluid energy to the driving device 2 via the servo valve 25 by releasing the pressure fluid, and the driving device 2 flows the pressure fluid distributed by the servo valve 25 into the cylinder chambers 23 and 24. As a result, the pressure difference between the cylinder chambers 23 and 24 is applied to the structure or the like as a control force. The driving device 2 is used for generating the control force, and the pressurized liquid whose pressure has been reduced is discharged to the recovery device 3 such as a hydraulic tank or an accumulator for return to the conversion device 5. The converter 5, the pressure accumulator 6, the drive device 2, and the recovery device 3 constitute a seismic control device 4 that is a unit constituting the seismic control system.

  In the seismic control device 4 shown in FIG. 5, the vibration energy generated by the external force input to the structure is converted by the conversion device 5 into fluid energy, the pressure accumulating device 6 stores the fluid energy, and the drive device 2 controls the fluid energy. Is similar to the example shown in FIG. However, the drive device 2 of the present invention is provided with the flow rate control valve 26 in addition to the servo valve 25, so that the pressure fluid flowing into the cylinder chambers 23, 24 of the drive device 2 from the energy source 1 such as the pressure accumulator 6 or the like. It differs from the example of FIG. 9 in that the amount is controlled. The flow control valve 26 may be installed in the flow path of the servo valve 25 or may be installed in a flow path parallel to the flow path of the servo valve 25. The flow control valve 26 is arranged between the cylinder chambers 23 and 24 in parallel with the servo valve 25 so as to directly connect the cylinder chambers 23 and 24 to move the hydraulic fluid between the cylinder chambers 23 and 24. Make it controllable.

  The servo valve 25 controls the pressure of the hydraulic fluid in each of the cylinder chambers 23 and 24 by controlling the flow of the hydraulic fluid in the energy source 1 into each of the cylinder chambers 23 and 24 of the driving device 2. 2 controls the generation time and magnitude of the control force generated, but the flow rate control valve 26 controls the amount of pressure fluid moved between the cylinder chambers 23, 24 on both sides, and is combined with the servo valve 25. In this case, the supply amount of the pressurized fluid from the energy source 1 to the driving device 2 is controlled. At the same time, the discharge amount to the collection device 3 is controlled.

  When the flow control valve 26 controls the movement amount of the pressure fluid between the cylinder chambers 23 and 24 on both sides, the flow rate Q0 is generated between the cylinder chambers 23 and 24 on both sides of the driving device 2 as shown in FIG. Therefore, when the amount of pressurized fluid of Q1 + Q3 is sent to the driving device 2 when the servo valve 25 is opened, the pressurized fluid having a flow rate of Q1-Q2-Q0 is sent to one cylinder chamber 23, and the other cylinder chamber is sent. 24 is supplied with the pressurized fluid having a flow rate of Q1-Q2 + Q0. At this time, a pressure Pa1 corresponding to Q1-Q2-Q0 and a pressure Pa2 corresponding to Q3-Q4 + Q0 are generated in the cylinder chambers 23, 24 of the driving device 2, and these pressure differences ΔP serve as a control force F. Etc. As shown in FIG. 1, the servo valve 25 and the flow rate control valve 26 are controlled by a command from the controller using the pressure difference ΔP in the cylinder chambers 23 and 24 on both sides, or the moving speed V of the piston 22 and the control force command F. Based on. Whether the flow rate control valve generates the flow rate Q0 is determined by the sign of the product of the speed V or the pressure difference ΔP and the control force command F.

  In the first aspect, the flow rate control valve 26 is used to control the supply amount of the pressurized fluid from the energy source 1 to the driving device 2, for example, during the “vibration” time period shown in FIG. The hydraulic fluid from the energy source 1 is allowed to pass through the servo valve 25 and is blocked from passing through the servo fluid 25 from the energy source 1 in at least a part of the “absorption” time zone. It is possible to switch the supply state of the hydraulic fluid to the driving device 2 (claim 3). “Permit passage of pressurized fluid from the energy source 1 through the servo valve 25” means that the driving device 2 uses the pressurized fluid (fluid energy) of the energy source 1 to generate a control force. “The passage of the hydraulic fluid from the source 1 through the servo valve 25 is blocked” means that the driving device 2 uses only the hydraulic fluid stored in the driving device 2 without using the hydraulic fluid of the energy source 1. It is to generate control force.

  Thus, by switching the supply state of the pressure fluid between the time of “vibration” and the time of “absorption” of the flow control valve 26, for example, both cylinder chambers 23 and 24 in at least a part of the time zone of “absorption” An operation (control) for generating a necessary control force for the drive device 2 is possible by using only the pressure fluid existing in the cylinder chamber and only the flow of the pressure fluid between the cylinder chambers 23 and 24. “Necessary control force” means “control force whose size is controlled”. “At least part of the time zone during absorption” includes the entire time zone of “absorption”.

  As a result, there is no need to keep supplying pressure fluid from the energy source 1 such as the pressure accumulator 6 to the drive device 2 at all times, that is, during “vibration” and “absorption”, so that the supply of pressure fluid cannot catch up. Occurrence is avoided and, for example, during the “absorption” time period, the energy source 1 can be temporarily suspended and the fluid energy held by the energy source 1 can be preserved. “Excitation” is a time period that is applied to the structure as an active force for the control force to cancel (cancel) the vibration (swing) of the structure. “Absorption” is other than “Excitation” This is a time zone in which the control force is applied to the structure as a passive resistance force for suppressing the shaking of the structure.

  The flow rate control valve 26 can temporarily stop the energy source 1 such as the pressure accumulator 6 (when “absorbing” or the like), so that the drive device 2 generates control force during “vibration” and “absorption”. Only when at least one of the above, for example, only during “vibration”, it is only necessary to generate the control force using the pressure fluid of the energy source 1, and at that time the energy source 1 sends the pressure fluid to the driving device 2. It becomes possible to supply to the drive device 2 while maintaining a sufficient pressure when discharging. In addition, since the situation where supply of pressurized fluid cannot be caught up is eliminated, it becomes possible to always generate a sufficiently large control force, and a reduction in the vibration control effect due to a lack of control force is avoided.

  For example, when the control force is generated using the pressure fluid of the energy source 1 only during the “vibration” time zone, the pressure fluid of the energy source 1 should be used as described above during the “absorption” time zone. Instead, it is only necessary to generate the control force using only the pressure fluid in the cylinder chambers 23 and 24 on both sides. As a result, when blocking the passage of the pressurized fluid from the energy source 1 through the servo valve 25 during the entire “absorption” time period, the energy source 1 is put into a completely dormant state during the “absorption” time period. Therefore, active vibration control with less energy source 1 is realized. Since the energy source 1 can be in a resting state during the “absorption” time period, the fluid energy of the energy source 1 can be effectively used during the “vibration” time period.

  FIG. 4- (a) shows the ratio of the amount of fluid energy used by the driving device 2 to the total amount of fluid energy held by the energy source 1 when the energy source 1 is completely stopped during the "absorption" time period. Shown in (c). As shown here, the ratio of the utilization (output) energy amount used when the drive device 2 “absorbs” to the total fluid energy amount of the energy source 1 while the energy source 1 is in a completely inactive state is It can be seen that when the feedback control is performed using the relative speed between the response speed when vibrating and the target speed, the magnitude of at least about 60% is maintained. This means that even when fluid energy (pressure fluid) is not supplied from the energy source 1 during "absorption", the drive device 2 uses 60% or more of fluid energy (pressure fluid) already supplied from the energy source 1. This means that the necessary control force is generated, which supports that sufficient active vibration control can be performed with a small energy source (energy amount).

  FIG. 4- (a) shows, for example, one of the seismic isolation structures in which the conversion device 5 is installed when the seismic control system of the present invention is composed of adjacent structures A and B as shown in FIGS. The ratio of the rigidity K1 of the structure A to the rigidity K2 of the other structure B where the driving device 2 is installed (stiffness ratio N (K1 / K2)) and the control gain G are constant for each seismic wave used. (B) shows the difference for each control gain G when the seismic wave and the stiffness ratio N are constant, and (c) shows the difference for each stiffness ratio N when the seismic wave and the control gain G are constant. Yes.

  As described above, “the passage of the hydraulic fluid from the energy source 1 through the servo valve 25 is allowed during the excitation time period, and the servo valve 25 of the hydraulic fluid from the energy source 1 is allowed to pass through at least a part of the absorption time period. “Switching the supply state of the pressurized fluid from the energy source 1 to the driving device 2 so as to cut off the passage” means that the flow rate control valve 26 is in a time zone in which the driving device 2 is applying force to the structure (during excitation) ) Allows passage of pressurized fluid from the energy source 1 through the servo valve 25, and from the energy source 1 during at least a part of the time zone (at the time of absorption) in which the drive device 2 resists shaking of the structure. Is set so as to block the passage of the pressurized fluid through the servo valve 25 (Claim 3). “To block the passage of the pressure fluid through the servo valve 25 at the time of absorption” means that the flow rate control valve 26 prevents the pressure fluid from moving between the cylinder chambers 23 and 24 of the driving device 2 and the energy source 1 at the time of absorption. In other words, it is held in a state in which only the movement of the pressure fluid between the cylinder chambers 23 and 24 on both sides is permitted.

  In the first aspect of the present invention, by controlling the amount of movement of the hydraulic fluid between the cylinder chambers 23 and 24 using the flow control valve 26, the cylinder chamber 23 of the driving device 2 for the hydraulic fluid from the energy source 1 (accumulator 6). , 24, the drive device 2 can generate the necessary control force without receiving the supply of fluid energy from the energy source 1 as described above. The drive device 2 can ensure high energy use efficiency. The state in which the fluid energy from the energy source 1 is not supplied to the driving device 2 is a resting state of the energy source 1, and this state is a state in which the fluid energy of the energy source 1 is preserved. Therefore, it can be said that the energy source 1 is used most efficiently.

  Therefore, when the flow rate control valve 26 is “absorbed”, the energy source 1 (pressure accumulator 6) is put into a dormant state, and the fluid energy (pressure fluid) of the energy source 1 is supplied to the drive device 2 at “vibration”. (Claim 3), it is possible to switch between the resting state of the energy source 1 and the operating state in which the fluid energy (pressure fluid) is supplied only by controlling the fluid energy (pressure fluid) by the flow control valve 26. Therefore, the use state in which the energy source 1 is used most efficiently and the drive device 2 functions most effectively is obtained. In this case, the control force can be generated only by the pressure fluid present in the cylinder 21 of the drive device 2, so that the energy usage efficiency is improved and at the same time the energy source 1 can be put into a completely dormant state. It will be possible.

  As described above, the hydraulic drive device 2 is combined with the conversion device 5, the pressure accumulating device 6, and the recovery device 3 to constitute the vibration control device 4 (Claim 4), and a structure as a unit constituting the vibration control system. (Claim 5).

  The structure of the structure to which the hydraulic drive device 2 or the vibration control device 4 is to be installed is not limited, but for example, as shown in FIG. In the case of configuring, if one of the adjacent structures A and B is a seismic isolation structure vertically divided into a lower structure 13 and an upper structure 14 with the seismic isolation device 12 interposed therebetween, If the conversion device 5 is installed between the structure 13 and the upper structure 14 (Claim 6), the amount of relative movement of the upper structure 14 relative to the lower structure 13 increases when an external force is applied. It becomes possible to earn more vibration energy to be input and fluid energy to be generated.

  The flow rate control valve controls the amount of hydraulic fluid moved between the cylinder chambers on both sides of the drive unit, so that the amount of pressure fluid supplied from the energy source to the drive unit can be reduced. In order to control, it becomes possible to generate the control force required for the driving device only by the inflow and outflow of the pressure fluid existing in the cylinder chambers. As a result, it is not always necessary to continuously supply the pressure liquid from an energy source such as a pressure accumulator, and the energy source can be temporarily suspended to save the fluid energy held by the energy source.

  Since the energy source can be temporarily stopped, for example, it is only necessary to generate the control force using the pressure fluid of the energy source only during the time period of “vibration”, and during the time period of “absorption”. It is possible to generate a control force using only the hydraulic fluid in the cylinder chambers on both sides without using the hydraulic fluid of the energy source. As a result, since the energy source can be brought into a completely dormant state during the “absorption” time period, active vibration control using a smaller energy source can be realized.

It is the schematic which showed the relationship between the example of the hydraulic-type drive device (actuator) which comprises the seismic control apparatus of this invention, an energy source, and a collection | recovery apparatus. 1A is an elevational view showing a state in which the driving device shown in FIG. 1 is straddled between a column / beam frame and a brace installed in the frame, and FIG. (C) is an elevation view showing a state of straddling between the frame and the seismic wall installed in the frame, (c) is between the upper structure and the lower structure divided vertically with the drive device sandwiched by the seismic isolation device It is the elevation which showed a mode that it straddled. It is the graph which showed the time history of control power as a result of feedback control at the time of changing control gain, and (a)-(c) is a case where control gain is 10, 20, and 30, respectively. (A)-(c) is the graph which showed the ratio of the energy amount used in the time zone of "absorption" which occupies for the total energy amount which a pressure accumulator can generate | occur | produce. It is the schematic which showed the structural example of the damping system, or the structural example of the damping device installed in the damping structure. It is the elevation which showed the adjacent structure as an installation object of the damping device shown in FIG. 5, and the installation state. It is the schematic diagram which showed the vibration model of the adjacent structure shown in FIG. It is the graph which showed the ratio of the utilization (output) energy amount by a drive device with respect to the conversion energy amount by the conversion device in the structure in which the drive device was installed among the adjacent structures shown in FIG. (A) is the schematic which showed the structural example of the drive device which comprises the conventional seismic control apparatus, (b) is the detail figure of the servo valve of the drive device in (a).

  FIG. 1 shows a structure using an energy source 1 such as a hydraulic pump and an accumulator for supplying a fluid such as pressure oil to a driving device 1 in a high pressure state, and fluid energy connected to the energy source 1 and supplied from the energy source 1. A hydraulic cylinder that outputs a control force to be applied to the motor, a hydraulic actuator, and the like, and a hydraulic tank that is connected to the drive device 2 to collect the fluid used in the drive device 2 and return it to the energy source 1 The relationship with the collection device 3 is shown. The energy source 1 and the drive device 2, and the drive device 2 and the recovery device 3 are each connected by a flow path. The energy source 1 includes a pressure accumulator 6 which will be described later. Each element including the drive device 2 shown in FIG. 1 constitutes an active vibration control system that is not an energy conversion type.

  The drive device 2 includes a cylinder 21 filled with pressure fluid such as pressurized oil, a piston 22 that reciprocates in the cylinder 21, and between the cylinder chambers 23 and 24 on both sides of the piston 22 and the energy source 1. Connected between the servo valve 25 that controls the flow of the pressure fluid in the energy source 1 into the cylinder chambers 23 and 24 and the cylinder chambers 23 and 24 on both sides, and the pressure between the cylinder chambers 23 and 24 on both sides. And a flow control valve 26 for controlling the amount of movement of the liquid.

  As described above, the drive device 2 is combined with the energy source 1 and the recovery device 3 shown in FIG. 1 as an active type vibration control system that is not an energy conversion type as shown in FIG. Although it may be used in a state where it is connected to the seismic element 10, in order to efficiently use the fluid energy (pressure fluid) of the energy source 1 used by the drive device 2, as shown in FIG. It is installed in the structure in the form of the device 4.

  The vibration control device 4 shown in FIG. 5 is connected to the conversion device 5 such as a hydraulic cylinder that converts vibration energy input to the structure into fluid energy, and stores the fluid energy converted by the conversion device 5. A pressure accumulator 6 such as an accumulator; a drive device 2 connected to the pressure accumulator 6 and outputting a control force to be applied to the structure using fluid energy (pressure fluid) accumulated in the pressure accumulator 6; And a recovery device 3 that recovers the pressure fluid discharged from the cylinder chambers 23 and 24 at the time of output of the drive device 2 and returns it to the conversion device 5. The collection device 3 is connected to the conversion device 5. The recovery device 3 uses a hydraulic tank or an accumulator. The pressure accumulator 6 corresponds to the energy source 1 in FIG. The vibration control device 5 shown in FIG. 5 constitutes an energy conversion type active vibration control system.

  The conversion device 5 includes a cylinder 51 and a piston 52 that reciprocates in the cylinder 51 as in the drive device 2, and the cylinder 51 is divided into cylinder chambers 53 and 54 on both sides of the piston 52. For example, FIG. As shown, the adjacent structures A and B are installed in a state straddling between the lower structure 13 and the upper structure 14 that are divided vertically with the seismic isolation device 12 of one structure A interposed therebetween. When the upper structure 14 moves relative to the lower structure 13 when an external force is applied, the conversion device 5 generates a high-pressure pressurized liquid by increasing the hydraulic pressure in one of the cylinder chambers 53 (54). Then, it is fed into the pressure accumulator 6 in a high pressure state. The pressure accumulator 6 stores high-pressure pressure fluid as fluid energy. Since the piston 52 reciprocates in the cylinder 51 when the structure A vibrates, high-pressure fluid is alternately generated in the cylinder chambers 53 and 54 on both sides.

  As shown in FIGS. 2 (a) and 2 (b), the drive device 2 straddles between a seismic element 10 such as a brace or a seismic wall in the structure and a frame 11 that surrounds the seismic element 10 within the construction surface. As in the case of the conversion device 5 in the example of FIG. 6 and the case where it is installed, as shown in (c), it is installed across the lower structure 13 and the upper structure 14 that are divided vertically with the seismic isolation device 12 interposed therebetween. May be. In any case, the drive device 2 basically uses the fluid energy in the energy source 1 (pressure accumulator 6) in the “vibration” time zone in the “vibration” and “absorption” time zones shown in FIG. Is used to apply a control force as a force for canceling the shaking of the structure to the seismic element 10 or the upper structure 14, and fluid energy in the energy source 1 (pressure accumulator 6) is applied during the “absorption” time period. Without using, a control force as a resistance force for suppressing the shaking of the structure is applied to the structure using the pressure liquid existing in the cylinder chambers 53 and 54 on both sides.

  FIG. 5 shows a structure of the vibration control device 4 having a configuration suitable for suppressing the vibration of the other structure B using the vibration of one structure A among the adjacent structures A and B shown in FIG. An example is shown. 5 is replaced with a pressure accumulator (accumulator) 6 as the energy source 1 shown in FIG. 1, and a converter between the hydraulic tank as the recovery device 3 and the energy source 1 in FIG. 5 is interposed, and the converter 5 is connected to both sides so that the pressurized liquid flows from the recovery device 3 to the energy source 1 side.

  FIG. 6 shows a seismic isolation structure in which one of the adjacent structures A and B is supported by the seismic isolation device 12, and the other structure B has seismic elements 10 such as braces in each layer. When the non-base-isolated structure is arranged, the conversion device 5 is straddled between the lower structure 13 and the upper structure 14 such as a foundation in which the relative displacement amount of one structure A becomes large, and the other structure A An example in which the drive device 2 is straddled between the seismic element 10 of each layer of the structure B and the frame 11 surrounding the seismic element 10 is shown. The pressure accumulating device 6 disposed between the conversion device 5 and the drive device 2 is installed at an arbitrary position on a line connecting the conversion device 5 and the drive device 2. The conversion device 5 and the pressure accumulating device 6, and the pressure accumulation device 6 and the driving device 2 of each layer are connected by a flow path, and each driving device 2 and the conversion device 5 are also connected by a flow path, and between each driving device 2 and the converting device 5. The recovery device 3 is connected to

  In the example of FIG. 6, the upper structure 14 of one structure A that is a seismic isolation structure is moved relative to the lower structure 13 when an external force is applied. The pressure fluid corresponding to the pressure is formed, and the pressure fluid exceeding a certain pressure is sent to the pressure accumulator 6. In the pressure accumulator 6, the pressure fluid is stored and stored as other forms of fluid energy.

  In order to save the use of fluid energy stored in the pressure accumulator 6, the driving device 2 mainly applies a force to the structure B as an active force for the control force to cancel the vibration of the structure B as described above. The control force is generated using the fluid energy (pressure fluid) of the pressure accumulator 6 during the applied “vibration” time period. In the “absorption” time zone in which the control force is applied as a passive resistance force for suppressing the shaking of the structure B, the fluid energy (pressure fluid) of the pressure accumulating device 6 is not used and the cylinder of the driving device 2 is used. The control force is generated by using only the pressure fluid existing in 21.

  The mechanism that generates the control force using the fluid energy of the pressure accumulator 6 only when the drive device 2 is “vibrated” and generates the control force without using the fluid energy of the pressure accumulator 6 when “absorbed” is “ Setting that allows passage of the servo fluid 25 from the energy source 1 during the “vibration” and blocks passage of the servo valve 25 from the energy source 1 during at least part of the time period during the “absorption”. The flow rate control valve 26 is controlled. In a state where the flow control valve 26 blocks the passage of the pressure fluid through the servo valve 25, the flow control valve 26 causes the pressure fluid (pressure oil) in the cylinder chambers 23, 24 on both sides to flow in and out of the drive device 2. Covers the pressure fluid necessary for the control force to be generated.

  Analysis by using the vibration model shown in FIG. 7 in which the adjacent structures A and B shown in FIG. 6 are equivalently replaced with a one-mass system model is used to control the vibration control device 4 installed in the structures A and B shown in FIG. Examine the seismic effect. In FIG. 7, C indicates the conversion device 5 (hydraulic cylinder), and Fd indicates the drive device 2 (hydraulic actuator). In this vibration model, the Hachinohe (ha) seismic wave with the maximum speed normalized to 50 kine is input to the converter 5 and the drive device 2 using the hydraulic damper (converter 5) and the hydraulic actuator (drive device 2) shown in FIG. The response results are shown in FIG.

  FIG. 8 shows the “vibration” of the drive device 2 of the conversion energy amount by the conversion device 5 when feedback control is performed on the structure B using the relative speed between the response speed and the target speed when the structure B vibrates. The ratio (energy balance) to the amount of energy used is shown for each control gain. When the energy balance is larger than 1, it means that the converter 5 generates all the energy used by the driving device 2 and can cover the fluid energy (pressure fluid) accumulated by the pressure accumulating device 6.

  In FIG. 8, the horizontal axis indicates control, but the energy balance tends to decrease as the control gain increases. However, the relationship between the control gain and the energy balance in the case of using the drive device having only the conventional servo valve shown in FIG. 9 is indicated by a broken line, but the drive device 2 having the flow control valve 26 of the present invention is any It can be seen that an energy balance more than twice that of the conventional drive device is obtained even with a control gain of.

1 …… Energy source,
2 ... Drive device, 21 ... Cylinder, 22 ... Piston, 23, 24 ... Cylinder chamber, 25 ... Servo valve, 26 ... Flow control valve,
3 …… Recovery device,
4 …… Damping device,
5 ... Conversion device, 51 ... Cylinder, 52 ... Piston, 53, 54 ... Cylinder chamber,
6 …… Accumulator,
10 ... seismic element, 11 ... frame,
12 ... Seismic isolation device, 13 ... Substructure, 14 ... Superstructure.

Claims (6)

A drive device that outputs a control force to be applied to a structure using pressure fluid from an energy source that stores pressure fluid,
A cylinder filled with pressure fluid, a piston that reciprocates in the cylinder, each cylinder chamber on both sides of the piston, and the energy source connected between the energy sources, and each of the pressure fluid in the energy source A servo valve that controls inflow into the cylinder chamber, and a flow rate control valve that is connected between the cylinder chambers on both sides and controls the amount of pressure fluid that moves between the cylinder chambers on both sides. Hydraulic drive unit for vibration control device.   2. The vibration control device liquid according to claim 1, wherein the energy source stores fluid energy converted from vibration energy input to the structure, and supplies the fluid energy as pressure fluid to the drive device. Pressure drive device.   The flow rate control valve allows passage of pressurized fluid from the energy source through the servo valve during a time period when the drive device is applying force to the structure, and the drive device resists shaking of the structure. 3. The vibration control according to claim 1, wherein a setting is made to block passage of the hydraulic fluid from the energy source through the servo valve during at least a part of the time zone. Hydraulic drive device for equipment.   A conversion device that converts vibration energy input to the structure into fluid energy, a pressure storage device that stores the fluid energy converted by the conversion device, and the fluid energy stored in the pressure storage device is applied to the structure. The hydraulic drive device according to claim 2 or 3 that outputs a control force to be collected, and a recovery device that recovers the pressure fluid discharged from the cylinder chamber at the time of output of the drive device and returns the converted fluid to the conversion device. And a vibration control device.   A vibration control system comprising the vibration control device 4 according to claim 4. The conversion device constituting the seismic control device is installed between a lower structure and an upper structure, which are divided vertically with the seismic isolation device of one structure among the adjacent structures, and the drive device is The vibration control system according to claim 5, wherein the vibration control system is installed in the other structure.

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