JP2015190478A - vibration control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify control of an actuator.SOLUTION: A vibration control device 10 comprises: a vibration amplitude amplifying mechanism 14 including an elastic body 16 and a movable mass 18 supported by a vibrator V through the elastic body 16; an actuator 20 for vibrating the movable mass 18; a detector 34 for detecting vibration of the vibrator; a controller 32 for outputting a control signal for controlling the actuator 20 on the basis of vibration information of the vibrator V detected by the detector; and a correcting filter 36 for correcting to a control signal less than 180°, at least a control signal having a phase difference between the vibrator V and the vibration amplification mechanism 14 being 180° or more out of the control signals output from the controller 32.

Description

  The present invention relates to a vibration damping device.

  There is known a hybrid mass damper (hereinafter referred to as “HMD”) that reduces vibration of a vibrating body such as an equipment machine or a building (see, for example, Patent Document 1).

  This type of HMD includes, for example, a vibration amplifying mechanism including a movable mass and an elastic body constituting a vibration system with one degree of freedom or multiple degrees of freedom, an actuator for exciting the movable mass, and the movable mass as a vibrating body. And a controller for controlling the actuator so as to vibrate in the opposite phase.

JP 2013-029137 A

  By the way, there is a demand for expanding a frequency range (hereinafter referred to as “vibration target frequency range”) in which vibration of the vibrating body can be reduced. However, if the vibration control target frequency region is widened, the phase difference between the vibrating body and the vibration amplification mechanism may be 180 degrees or more, which may complicate the control of the actuator.

  The present invention aims to simplify the control of the actuator in consideration of the above facts.

  The vibration damping device according to claim 1 includes a vibration amplifying mechanism having an elastic body, a movable mass supported by the vibrating body via the elastic body, an actuator for exciting the movable mass, and the vibration. A detection unit for detecting body vibration, a controller for outputting a control signal for controlling the actuator based on vibration information of the vibration body detected by the detection unit, and a control signal output from the controller A correction filter that corrects a control signal having a phase difference of 180 degrees or more between the vibrating body and the vibration amplification mechanism to a control signal of less than 180 degrees.

  According to the vibration damping device of the first aspect, the actuator that vibrates the movable mass is controlled by the controller. For example, the controller outputs a control signal for controlling the actuator so that the vibration of the vibrating body is canceled by the vibration of the vibration amplification mechanism (movable mass) based on the vibration information of the vibrating body detected by the detection unit. .

  Here, when the phase difference between the vibrating body and the vibration amplifying mechanism becomes 180 degrees or more, the vibration amplifying mechanism vibrates in a phase opposite to that of the vibrating body. Therefore, when the phase difference between the vibrating body and the vibration amplification mechanism is 180 degrees or more, if the actuator is controlled by the controller as in the case where the phase difference is less than 180 degrees, the vibration of the vibrating body may increase.

  On the other hand, in the present invention, among the control signals output from the controller, at least a control signal having a phase difference of 180 degrees or more between the vibrating body and the vibration amplification mechanism is corrected to a control signal of less than 180 degrees by the correction filter. Therefore, the controller can control the actuator without considering the case where the phase difference between the vibrating body and the vibration amplification mechanism is 180 degrees or more. Therefore, the control of the actuator can be simplified.

  The vibration damping device according to claim 2 is the vibration damping device according to claim 1, wherein a plurality of the vibration amplification mechanisms are stacked, and the actuator includes the vibration body and the movable mass, the adjacent movable mass, Or it is connected to the movable mass in the uppermost layer.

  According to the vibration damping device of the second aspect, a plurality of vibration amplification mechanisms are stacked. Thereby, a multi-degree-of-freedom multi-mass point vibration system is configured. In such a multi-degree-of-freedom multi-mass point vibration system, the vibration amplification region in which the vibration of the vibration amplification mechanism is amplified increases as the natural frequency (primary natural frequency, secondary natural frequency, etc.) increases. Therefore, it becomes easy to expand the vibration suppression target frequency region. On the other hand, in a multi-degree-of-freedom multi-mass point vibration system, the phase difference between the vibrating body and the vibration amplification mechanism is likely to be 180 degrees or more, so that the control of the actuator by the controller becomes more complicated.

  The present invention is particularly effective for the vibration amplifying mechanism constituting such a multi-degree-of-freedom multi-mass point vibration system, and the control of the actuator can be simplified by applying the present invention.

  As described above, according to the vibration damping device of the present invention, the control of the actuator can be simplified.

It is a vibration model figure which shows the damping device which concerns on 1st Embodiment of this invention. It is a block diagram which shows the control part shown by FIG. (A) And (B) is a graph which shows an example of the vibration characteristic of the vibration amplification mechanism to which the correction filter in 1st Embodiment of this invention was applied. It is a vibration model figure which shows the damping device which concerns on 2nd Embodiment of this invention. (A) And (B) is a graph which shows an example of the vibration characteristic of the vibration amplification mechanism to which the correction filter in 2nd Embodiment of this invention was applied. (A)-(C) is a vibration model figure showing a damping device concerning a 3rd embodiment of the present invention. (A) And (B) is a graph which shows an example of the vibration characteristic of the vibration amplification mechanism of the vibration system of a general multi-degree-of-freedom multi-mass point. (A) And (B) is a graph which shows an example of the vibration characteristic of the vibration amplification mechanism to which the correction filter in 3rd Embodiment of this invention was applied. (A) And (B) is a graph which shows an example of the vibration characteristic of the vibration amplification mechanism to which the correction filter in 3rd Embodiment of this invention was applied. (A) And (B) is a graph which shows an example of the vibration characteristic of the vibration amplification mechanism to which the correction filter in 3rd Embodiment of this invention was applied. (A) And (B) is a graph which shows an example of the vibration characteristic of the vibration amplification mechanism to which the correction filter in the modification of this invention was applied.

  Hereinafter, a vibration damping device according to an embodiment of the present invention will be described with reference to the drawings.

  First, the first embodiment will be described.

  FIG. 1 shows a vibration model of the vibration damping device 10 according to the first embodiment. The vibration damping device 10 reduces (vibrates) the vibration of the vibrating body V based on the same principle as a so-called HMD (hybrid mass damper).

  Examples of the vibrating body V include building materials (for example, floors, ceilings, walls, etc.) that vibrate due to an external force such as an earthquake, and equipment machines having a vibration source such as a motor and a pump.

  The vibration damping device 10 includes a vibration amplification mechanism 14, an actuator 20, a control unit 30, and a detection unit 34. The vibration amplification mechanism 14 includes an elastic body 16 and a movable mass 18 supported by the vibration body V via the elastic body 16, and forms a vibration system with one degree of freedom and one mass.

  The elastic body 16 is composed of, for example, an elastic body such as a coil spring, natural rubber, synthetic rubber, or silicon, and the expansion / contraction direction is the vibration direction of the vibration body V (the arrow Z direction). Arranged between. The elastic body 16 couples the vibrating body V and the movable mass 18 and supports the movable mass 18 so as to vibrate in the vibration direction of the vibrating body V. FIG. 1 schematically shows the spring constant k and the damping coefficient c of the elastic body 16 and the mass m of the movable mass 18.

  An actuator 20 is connected to the movable mass 18. The actuator 20 is composed of, for example, a linear motor, a piezo actuator, a servo motor, and the like, and is disposed on the movable mass 18. The actuator 20 vibrates the movable mass 18 in the vibration direction (arrow Z direction) (applies a control force f). The actuator 20 has a reaction mass 20A for obtaining a reaction force when the movable mass 18 is vibrated. In the present embodiment, the movable mass 18 corresponds to the uppermost movable mass.

  A control unit 30 is electrically joined to the actuator 20, and a control force f applied to the movable mass 18 is controlled by the control unit 30. The control unit 30 is configured by, for example, a DSP (Digital Signal Processor).

  As shown in FIG. 2, the control unit 30 outputs a controller 32 that controls the actuator 20 so that the vibration of the vibrating body V is canceled by the vibration (damping force F) of the vibration amplification mechanism 14, and is output from the controller 32. And a correction filter 36 for correcting the control signal.

  A detection unit 34 is electrically connected to the controller 32. The detection unit 34 is, for example, an acceleration sensor, a speed sensor, a displacement sensor, or the like provided in the vibrating body V, and detects vibration information such as acceleration, speed, and displacement of the vibrating body V and outputs the vibration information to the controller 32.

  The controller 32 has a feedback circuit, for example, so that the vibration amplifying mechanism 14 (movable mass 18) vibrates in a phase opposite to that of the vibrating body V based on the vibration information of the vibrating body V detected by the detection unit 34. A control signal for feedback control of the actuator 20 is generated. This control signal includes a control amount of the actuator 20, and the actuator 20 generates a control force f in accordance with this control amount.

The term “reverse phase” here refers not only to the case where the vibration amplification mechanism 14 vibrates with the vibration body V with a phase difference of 180 degrees, but also the vibration amplification mechanism 14 and the vibration body V with a phase difference of about 180 degrees (generally reversed). It is a concept that includes the case of vibration in phase. Further, as a method of controlling the actuator 20, for example, it can be used like the modern control theory, such as the classic PID control and frequency shaping filter or H _∞ control, (H-infinity Control).

Here, FIGS. 3A and 3B show an example of the vibration characteristics of the vibration amplification mechanism 14. Note that the vertical axis of FIG. 3A represents the amplification factor of the damping force F of the vibration amplifying mechanism 14 with respect to the exciting force F _V of the vibrating body V.

  As shown in FIG. 3A, in this example, the amplification factor of the vibration amplifying mechanism 14 is increased near the frequency of 10 Hz (resonant frequency) due to resonance, and the damping force F of the vibration amplifying mechanism 14 is It can be seen that it is amplified. For this reason, in a typical HMD, the vibration suppression target frequency region is set near the resonance frequency. On the other hand, since the vibration of the vibrating body V includes various frequencies, there is a demand for expanding the vibration control target frequency region.

  However, if the vibration target frequency range is expanded, a frequency range where the phase difference between the vibrating body V and the vibration amplification mechanism 14 is less than 180 degrees and a frequency range where the phase difference is 180 degrees or more are mixed, and the controller 32. Therefore, the control of the actuator 20 is complicated. Specifically, as shown in FIG. 3B, at the resonance frequency (10 Hz), the phase difference between the vibrating body V and the vibration amplifying mechanism 14 is approximately 90 degrees. On the other hand, when the frequency is slightly higher than the resonance frequency, the phase difference between the vibrating body V and the vibration amplifying mechanism 14 is 180 degrees or more.

  As described above, when the phase difference between the vibrating body V and the vibration amplifying mechanism 14 is 180 degrees or more, the vibration amplifying mechanism 14 (movable mass 18) vibrates in a phase opposite to that of the vibrating body V. In this case, when the actuator 20 is controlled by the controller 32 so that the vibration amplifying mechanism 14 (movable mass 18) vibrates in a phase opposite to that of the vibrating body V as in the case where the phase difference is less than 180 degrees, the vibrating body The vibration of V may be increased. Therefore, when the vibration control target frequency region is expanded, it is necessary to control the actuator 20 in consideration of the case where the phase difference between the vibrating body V and the vibration amplification mechanism 14 is 180 degrees or more. The design becomes complicated.

As a countermeasure, in the present embodiment, the control signal output from the controller 32 is corrected by the correction filter 36 of the following equation (1).

However,
m: mass of movable mass s: complex circular frequency (= imaginary number i × circular frequency ω of vibrating body)
c: damping coefficient of the elastic member k: stiffness of the elastic body f _H: is the upper limit value of the damping target frequency.

For example, the correction filter 36 controls a control signal (control amount u) in which a phase difference between at least the vibrating body V and the vibration amplifying mechanism 14 is 180 degrees or less among control signals output from the controller 32. The signal (control amount u ₁ ) is corrected. Specifically, the correction filter 36 has a vibration amplifying mechanism 14 for the vibrating body V so that the phase difference between the vibrating body V and the vibration amplifying mechanism 14 is eliminated, as indicated by a two-dot chain line in FIG. Correct the phase delay.

Note that the apparent amplification magnification of the vibration amplification mechanism 14 when the correction filter 36 is applied is as shown by a two-dot chain line in FIG. 3A and 3B, the characteristics of the correction filter 36 are indicated by broken lines. Further, in FIGS. 3A and 3B, the natural frequency of the vibration amplification mechanism 14 is set to 10 Hz, the damping coefficient c is set to 5%, and the upper limit value f _H of the vibration control target frequency is set to 100 Hz. .

Here, supplementing the correction filter 36, the vibration characteristic of the vibration amplifying mechanism 14 in the present embodiment is expressed by the following equation (2). In this case, as a correction filter for correcting the phase difference between the vibrating body V and the vibration amplifying mechanism 14, the following equation (3) which is the reciprocal (inverse filter) of equation (2) is ideal. 3) is not stable. Therefore, in the present embodiment, the correction filter 36 (formula (1)) is stabilized by adding the term “s ² ” to the denominator of formula (3).

  Next, the operation of the first embodiment will be described.

According to the vibration damping device 10 according to the present embodiment, the controller 32 vibrates the vibrating body V by the damping force F of the vibration amplification mechanism 14 based on the vibration information of the vibrating body V detected by the detection unit 34. generating a control signal for controlling the actuator 20 such that a force F _V is canceled. More specifically, the controller 32 controls the actuator 20 so that the vibration amplification mechanism 14 vibrates in a phase opposite to that of the vibration body V based on the vibration information of the vibration body V detected by the detection unit 34. Generate a signal.

  Here, as described above, when the vibration target frequency range is expanded, a frequency range where the phase difference between the vibrating body V and the vibration amplification mechanism 14 is less than 180 degrees and a frequency range where the phase difference is 180 degrees or more are mixed. The control of the actuator 20 by the controller 32 is complicated.

In contrast, in the present embodiment, among the control signals output from the controller 32, a control signal (control amount u) having a phase difference of at least 180 degrees between the vibrating body V and the vibration amplifying mechanism 14 is the correction filter 36 ( The control signal is corrected to a control signal (control amount u ₁ ) of less than 180 degrees according to equation (1)) and output to the actuator 20.

  Therefore, the actuator 20 can be controlled without considering the case where the phase difference between the vibrating body V and the vibration amplification mechanism 14 is 180 degrees or more. Therefore, the design of the controller 32 can be simplified while expanding the vibration control target frequency region.

  Next, a second embodiment will be described. In addition, the same code | symbol is attached | subjected to the same structure as 1st Embodiment, and description is abbreviate | omitted.

  FIG. 4 shows a vibration model of the vibration damping device 40 according to the second embodiment. In the vibration damping device 40, unlike the vibration damping device 10 according to the first embodiment, the actuator 20 is installed between the vibrating body V and the movable mass 18, and the vibrating body V and the movable mass 18 are connected to each other. It is connected. Note that the actuator 20 according to the present embodiment does not have the reaction mass 20A.

In the vibration damping device 40, the control signal output from the controller 32 is corrected by the correction filter 36 represented by the following equation (2).

However,
m: mass of movable mass s: complex circular frequency (= imaginary number i × circular frequency ω of vibrating body)
c: Damping coefficient k of elastic body k: Stiffness f _{L of} elastic body: Lower limit value h of vibration control target frequency h: Parameter for adjusting amplification at lower limit value f _L.

Similarly to the first embodiment, the correction filter 36 outputs a control signal (control amount u) having a phase difference of at least 180 degrees between the vibrating body V and the vibration amplifying mechanism 14 among the control signals output from the controller 32. Correction is made to a control signal (control amount u ₁ ) of less than 180 degrees.

  Specifically, the correction filter 36 has a vibrating body V so that the phase difference between the vibrating body V and the vibration amplifying mechanism 14 is eliminated in the low frequency region as indicated by a two-dot chain line in FIG. The phase delay of the vibration amplifying mechanism 14 with respect to is corrected.

The apparent amplification magnification of the vibration amplifying mechanism 14 when the correction filter 36 is applied is as shown by a two-dot chain line in FIG. 5A and 5B, the natural frequency of the vibration amplification mechanism 14 is 10 Hz, the damping coefficient c is 5%, the lower limit value f _L of the vibration control target frequency is 1 Hz, and the parameter h is 0. .2 is set. Incidentally, increasing the parameter h, FIG. 5 (A) amplification factor in the vicinity vibration number 10 0 ^Hz increases in, reducing the parameter h, the amplification factor in the vicinity vibration number 10 0 ^Hz decreases.

Here, supplementing the correction filter 36, the vibration characteristic of the vibration amplification mechanism 14 in the present embodiment is represented by the following equation (5). In this case, as a correction filter for correcting the phase difference between the vibrating body V and the vibration amplifying mechanism 14, the following equation (6) which is the reciprocal (inverse filter) of equation (5) is ideal. 6) is not stable. Therefore, in the present embodiment, the correction filter 36 (equation (4)) is stabilized by adding the terms “s ¹ ” and “s ⁰ ” to the denominator of equation (6).

  Next, the operation of the second embodiment will be described.

According to the vibration damping device 40 according to the present embodiment, the controller 32 vibrates the vibrating body V by the damping force F of the vibration amplification mechanism 14 based on the vibration information of the vibrating body V detected by the detection unit 34. generating a control signal for controlling the actuator 20 such that a force F _V is canceled. More specifically, the controller 32 controls the actuator 20 so that the vibration amplification mechanism 14 vibrates in a phase opposite to that of the vibration body V based on the vibration information of the vibration body V detected by the detection unit 34. Generate a signal.

Among these control signals, at least a control signal (control amount u) having a phase difference of 180 degrees or more between the vibrating body V and the vibration amplification mechanism 14 is controlled by a correction filter 36 (Equation (4)). It is corrected to the control amount u ₁ ) and output to the actuator 20. Therefore, the same effect as the first embodiment can be obtained.

  Next, a third embodiment will be described. In addition, the same code | symbol is attached | subjected to the same structure as 1st, 2nd embodiment, and description is abbreviate | omitted.

  6A to 6C show vibration models of the vibration damping devices 50A, 50B, and 50C according to the third embodiment. Each of the vibration control devices 50A, 50B, and 50C includes vibration amplification mechanisms 52A, 52B, and 52C that constitute a vibration system having two mass degrees of freedom and two masses, respectively. Each vibration amplification mechanism 52A, 52B, 52C is formed by laminating two first vibration amplification mechanisms 14A and second vibration amplification mechanisms 14B. In the vibration amplifying mechanisms 52A, 52B, and 52C, the position of the actuator 20 is different.

  Specifically, the first vibration amplification mechanism 14A includes a first elastic body 16A and a first movable mass 18A supported by the vibration body V via the first elastic body 16A. The second vibration amplification mechanism 14B includes a second elastic body 16B and a second movable mass 18B supported by the first movable mass 18A via the second elastic body 16B. The adjacent first movable mass 18A and second movable mass 18B are connected in series via the second elastic body 16B, and can vibrate in the vibration direction (arrow Z direction).

  Further, in the vibration damping device 50A shown in FIG. 6A, the actuator 20 is disposed on the second movable mass 18B, and is connected only to the uppermost second movable mass 18B. In the vibration damping device 50B shown in FIG. 6B, the actuator 20 is disposed between the first movable mass 18A and the second movable mass 18B, and the adjacent first movable mass 18A and the second movable mass 18B. It is connected to the mass 18B. Further, in the vibration damping device 50C shown in FIG. 6C, the actuator 20 is disposed between the vibrating body V and the first movable mass 18A, and is connected to the vibrating body V and the first movable mass 18A. ing.

6A to 6C show the spring constants k ₁ and k ₂ and the damping coefficients c _{1 and} c _{2 of} the first elastic body 16A and the second elastic body 16B, and the first movable mass 18A. The masses m ₁ and m ₂ of the second movable mass 18B are schematically shown.

  Here, the vibration characteristics of the vibration amplification mechanism of the multi-degree-of-freedom multi-mass point vibration system will be described. 7 (A) and 7 (B), one degree of freedom, one mass point (one degree of freedom system), two degrees of freedom, two mass points (two degree of freedom system), and three degrees of freedom, three mass points (three degree of freedom system). The vibration characteristics of the vibration amplification mechanism are shown.

  As shown in FIG. 7A, in the two-degree-of-freedom system and the three-degree-of-freedom system vibration amplification mechanism, vibration increases as the resonance frequency (primary natural frequency, secondary natural frequency, etc.) increases. Since the vibration amplification region where the vibration of the amplification mechanism is amplified is expanded, it is easy to expand the vibration suppression target frequency region.

  On the other hand, as shown in FIG. 7B, in the two-degree-of-freedom two-mass-point vibration amplification mechanism, the phase difference between the vibrating body and the vibration amplification mechanism is approximately 180 degrees, and the three-degree-of-freedom three-mass point vibration amplification In the mechanism, the phase difference between the vibrating body and the vibration amplification mechanism is approximately 270 degrees. That is, in the multi-degree-of-freedom multi-mass point vibration amplification mechanism, the vibration amplification region can be expanded, but the control of the actuator by the controller becomes more complicated.

  In addition, as a correction filter for correcting the phase difference between the vibrating body and the vibration amplification mechanism of a multi-degree-of-freedom multi-mass point, the reciprocal (inverse filter) of the vibration characteristic equation of the vibration amplification mechanism is ideal, but this inverse filter is As in the first and second embodiments, it is not stable.

  Therefore, in the present embodiment, the correction filters 36 of the vibration amplifying mechanisms 52A, 52B, and 52C having two degrees of freedom and two mass points are represented by the equations (1) and (2) according to the first and second embodiments that are stable. It is formed by the combination. Hereinafter, the correction filter 36 of the vibration damping devices 50A, 50B, and 50C shown in FIGS. 6A to 6C will be described in detail.

First, the correction filter 36 of the vibration damping device 50A shown in FIG. In the vibration damping device 50A, when viewing the second vibration amplification mechanism 14B from the first vibration amplification mechanism 14A, the second vibration amplification mechanism 14B can be regarded as an actuator that vibrates the first vibration amplification mechanism 14A. Therefore, the correction filter that corrects the phase difference between the vibrating body V and the first vibration amplifying mechanism 14A has specifications of the first vibration amplifying mechanism 14A as variables k, c, and m in the equation (1) of the first embodiment. It is obtained by substituting [k ₁ , c ₁ , m ₁ ]. Hereinafter, this correction filter is represented by Expression (1) [k ₁ , c ₁ , m ₁ ].

Similarly, the correction filter that corrects the phase difference between the first vibration amplification mechanism 14A and the second vibration amplification mechanism 14B uses the second vibration amplification for k, c, and m in the expression (1) of the first embodiment. It is obtained by substituting the specifications [k ₂ , c ₂ , m ₂ ] of the mechanism 14B. Hereinafter, the correction filter is represented by Expression (1) [k ₂ , c ₂ , m ₂ ].

Then, the correction filter 36 of the vibration amplifying mechanism 52A as a whole is obtained by the product of the formula (1) [k ₁ , c ₁ , m ₁ ] and the formula (1) [k ₂ , c ₂ , m ₂ ] (formula (1) [k ₁ , c ₁ , m ₁ ] × Equation (1) [k ₂ , c ₂ , m ₂ ]). As indicated by a two-dot chain line in FIG. 8B, the correction filter 36 reduces the phase delay of the vibration amplification mechanism 52A with respect to the vibration body V so that the phase difference between the vibration body V and the vibration amplification mechanism 52A disappears. to correct.

It should be noted that the apparent amplification magnification of the vibration amplification mechanism 52A when the correction filter 36 is applied is as shown by a two-dot chain line in FIG. In FIGS. 8A and 8B, the natural frequency of the first vibration amplifying mechanism 14A and the second vibration amplifying mechanism 14B is 10 Hz, the damping coefficients c ₁ and c ₂ are 5%, and the vibrations to be controlled. the number of the upper limit value _{f H} is set to the 100 Hz.

Next, the vibration damping device 50B shown in FIG. 6B will be described. In the vibration damping device 50B, when viewing the second vibration amplification mechanism 14B from the first vibration amplification mechanism 14A, the second vibration amplification mechanism 14B can be regarded as an actuator that vibrates the first vibration amplification mechanism 14A. Therefore, a correction filter that corrects the phase difference between the vibrating body V and the first vibration amplification mechanism 14A is obtained by Expression (1) [k ₁ , c ₁ , m ₁ ].

On the other hand, when the first vibration amplification mechanism 14A is viewed from the second vibration amplification mechanism 14B, the first vibration amplification mechanism 14A can be regarded as a vibration body connected by the actuator 20. Therefore, the correction filter for correcting the phase difference between the first vibration amplifying mechanism 14A and the second vibration amplifying mechanism 14B has various characteristics of the second vibration amplifying mechanism 14B in k, c, m in the expression (2) of the second embodiment. It is obtained by substituting the element [k ₂ , c ₂ , m ₂ ]. Hereinafter, the correction filter is represented by Expression (2) [k ₂ , c ₂ , m ₂ ].

The correction filter 36 of the entire vibration amplification mechanism 52B is obtained by the product of the equation (1) [k ₁ , c ₁ , m ₁ ] and the equation (2) [k ₂ , c ₂ , m ₂ ] (formula (1) [k ₁ , c ₁ , m ₁ ] × Equation (2) [k ₂ , c ₂ , m ₂ ]). As indicated by a two-dot chain line in FIG. 9B, the correction filter 36 reduces the phase delay of the vibration amplifying mechanism 52B with respect to the vibrating body V so that the phase difference between the vibrating body V and the vibration amplifying mechanism 52B is eliminated. to correct.

It should be noted that the apparent amplification magnification of the vibration amplification mechanism 52B when the correction filter 36 is applied is as shown by a two-dot chain line in FIG. 9A and 9B, the natural frequency of the first vibration amplifying mechanism 14A and the second vibration amplifying mechanism 14B is 10 Hz, the damping coefficients c ₁ and c ₂ are 5%, and the vibration to be controlled. the number of the upper limit value _{f H} is 100 Hz, the lower limit _{f L} of the damping target frequency is 1 Hz, the parameter h is set to the 0.2.

Next, the vibration damping device 50C shown in FIG. 6C will be described. In the vibration damping device 50C, generally, the weight of the second movable mass 18B is larger than that of the first movable mass 18A. Therefore, in this embodiment, the vibration amplification mechanism 52C is regarded as a one-degree-of-freedom one-mass-point vibration amplification mechanism formed by the second elastic body 16B and the second movable mass 18B. Then, the correction filter 36 that corrects the phase difference between the vibrating body V and the vibration amplification mechanism 52C is obtained by Expression (2) [k ₂ , c ₂ , m ₂ ].

  The correction filter 36 reduces the phase delay of the vibration amplifying mechanism 52C with respect to the vibrating body V so that the phase difference between the vibrating body V and the vibration amplifying mechanism 52C disappears, as indicated by a two-dot chain line in FIG. to correct.

Note that the apparent amplification magnification of the vibration amplifying mechanism 52C when the correction filter 36 is applied is as shown by a two-dot chain line in FIG. In FIGS. 10A and 10B, the natural frequency of the first vibration amplifying mechanism 14A and the second vibration amplifying mechanism 14B is 10 Hz, the damping coefficients c ₁ and c ₂ are 5%, and the vibration to be controlled. The numerical lower limit value f _L is set to 1 Hz, and the parameter h is set to 0.2.

  Next, the operation of the third embodiment will be described.

  In the present embodiment, the correction filter 36 that corrects the phase difference between the two-degree-of-freedom two-mass point vibration amplification mechanisms 52A, 52B, and 52C and the vibrating body V is represented by the equations (1) and (2) that are stable. It is formed by a combination of 1) and formula (2). Thereby, the effect similar to the said 1st, 2nd embodiment can be acquired.

  In this embodiment, as shown in FIG. 8B, FIG. 9B, and FIG. 10B, the two-degree-of-freedom two-mass-point vibration amplification mechanisms 52A, 52B, 52C, and the vibrating body V Although the correction filter 36 is formed so that the phase difference between the vibration amplification mechanisms 52A, 52B, and 52C becomes flat as much as possible, that is, the vibration characteristics of the vibration amplification mechanisms 52A, 52B, and 52C become flat.

  For example, in a conventional one-free one-mass vibration amplifying mechanism, a predetermined phase difference occurs between the vibrating body and the vibration amplifying mechanism at the resonance frequency, but a conventional controller is designed in consideration of such a phase difference. Has been. Therefore, for example, by correcting the vibration characteristics of the two-degree-of-freedom two-mass-point vibration amplification mechanisms 52A, 52B, and 52C to the vibration characteristics of the conventional one-degree-of-freedom one-material vibration amplification mechanism, the conventional controller also described above. It becomes possible to control the vibration damping devices 50A, 50B, and 50C.

Specifically, as shown in FIGS. 11A and 11B, the vibration amplifying mechanism 52B of the vibration damping device 50B is expressed by the equation (1) [k ₁ , c ₁ , m ₁ ]. When the correction filter 36 is applied, the vibration characteristic of the vibration amplification mechanism 52B is corrected to the vibration characteristic equivalent to that of the one-degree-of-freedom one-mass-point vibration amplification mechanism. Thereby, the actuator 20 of the vibration damping device 50B can be controlled by the conventional controller. Therefore, the controller can be easily designed.

  In this embodiment, the two-degree-of-freedom two-mass point vibration amplification mechanism 52A, 52B, 52C has been described as an example. Applicable to the mechanism as appropriate.

  Next, modified examples of the first to third embodiments will be described. In the following, various modified examples will be described by taking the first embodiment as an example, but these modified examples are also applicable to the second and third embodiments as appropriate.

  Although the example which installed the damping device 10 on the vibrating body V was shown in the said 1st Embodiment, it is not restricted to this. The damping device 10 may be installed in a state of being suspended from the lower surface of a vibrating body such as a floor slab, for example.

  Moreover, in the said 1st Embodiment, although the example which applied the damping device 10 to the vibrating body V which vibrates in an up-down direction (arrow Z direction) was shown, it does not restrict to this. The damping device 10 is applicable to the vibrating body V that vibrates in the horizontal direction, for example.

  As mentioned above, although one embodiment of the present invention was described, the present invention is not limited to such an embodiment, and one embodiment and various modifications may be used in combination as appropriate, and the gist of the present invention will be described. Of course, various embodiments can be implemented without departing from the scope.

DESCRIPTION OF SYMBOLS 10 Damping apparatus 14 Vibration amplification mechanism 14A First vibration amplification mechanism 14B Second vibration amplification mechanism 16 Elastic body 16A First elastic body 16B Second elastic body 18 Movable mass 18A First movable mass 18B Second movable mass 20 Actuator 32 Controller 34 detector 36 correction filter 40 damping device 50A damping device 50B damping device 50C damping device 52 vibration amplifying mechanism V vibrating body

Claims (2)

A vibration amplifying mechanism having an elastic body and a movable mass supported by the vibrating body via the elastic body;
An actuator for exciting the movable mass;
A detection unit for detecting vibration of the vibrating body;
A controller that outputs a control signal for controlling the actuator based on vibration information of the vibrating body detected by the detection unit;
Among the control signals output from the controller, a correction filter that corrects at least a control signal having a phase difference of 180 degrees or more between the vibrating body and the vibration amplification mechanism to a control signal of less than 180 degrees;
A vibration damping device comprising: A plurality of the vibration amplification mechanisms are stacked,
The actuator is coupled to the vibrating body and the movable mass, the adjacent movable mass, or the uppermost movable mass.
The vibration damping device according to claim 1.