JP2015190572A - vibration control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vibration control device enabling more fine vibration control to be carried out under a low cost.SOLUTION: This invention comprises: a movable mass 20 supported by an object structure in such a manner that it can be reciprocated in a horizontal direction X; a first linear motor 21 and a second linear motor 22 for driving the movable mass 20; a vibration sensor 40 for detecting vibration of the object structure; a linear scale sensor 23 for detecting a relative displacement between the movable mass 20 and the object structure in the horizontal direction X; and a control part 32 for controlling the first linear motor 21 and the second linear motor 22 on the basis of the vibration of the object structure and the relative displacement. The control part 32 comprises a spring element part 323 and an attenuation element part 324 for controlling the first linear motor 21 and the second linear motor 22 in such a way that the movable mass 20 is passively reciprocated under vibration of the object structure so as to restrict vibration of the object structure.

Description

  The present invention relates to a vibration damping device that reduces vibration of a target structure due to wind, earthquake, or the like.

  As a vibration damping device that reduces vibration of a target structure due to wind, earthquake, or the like, a so-called active vibration damping device and a passive vibration damping device are known. An active vibration damping device reciprocates a movable mass supported by a target structure so as to be reciprocally movable in a horizontal direction by a driving force of an actuator, thereby suppressing vibration of the target structure (for example, a patent). Reference 1). On the other hand, a passive vibration damping device is a mechanical spring element using a coil spring, a pendulum, etc., an oil damper, a viscous body, etc. between a movable mass supported so as to be able to reciprocate and a target structure. A mechanical damping element is used. In the passive vibration damping device, the movable mass on which the spring force by the spring element and the damping force by the damping element act is passively reciprocated by the vibration of the target structure, thereby suppressing the vibration of the target structure. .

  In addition, in buildings such as high-rise buildings, a vibration control device that can provide a wide range of vibration control effects from small vibrations caused by wind to large vibrations caused by earthquakes is required. As such a vibration damping device, a hybrid vibration damping device is known in which an active mechanism having the same configuration as the active vibration damping device is combined with a passive mechanism having the same configuration as the passive vibration damping device ( For example, see Patent Document 2).

  For example, a hybrid vibration damping device functions as an active vibration damping device against small vibrations caused by wind. That is, the movable mass is reciprocated by the driving force of the actuator, thereby suppressing the vibration of the building. On the other hand, the hybrid damping device functions as a passive damping device for large vibrations caused by earthquakes that cannot be handled by the active method. Specifically, transmission of the driving force from the actuator to the movable mass is disconnected, and the movable mass is supported by the building so as to be able to reciprocate in a state where the mechanical spring element and the damping element are interposed.

JP 2010-255791 A JP 2012-013126 A

  In the passive type vibration damping device and the hybrid type vibration damping device including the passive mechanism, the spring element of the spring element is reciprocated in synchronization with the natural frequency of the target structure by the vibration of the target structure. It is necessary to set the spring constant. However, the natural frequency of the target structure often varies depending on the acceleration of vibration of the target structure, particularly in a high-rise building equipped with a seismic isolation device. If the natural frequency of the target structure fluctuates, the reciprocating motion of the movable mass may not be synchronized with the natural frequency of the target structure, so that a sufficient damping effect may not be obtained.

  In this case, for example, if a plurality of coil springs having different spring constants and a mechanism for switching the connection of the plurality of coil springs to the movable mass are provided, the spring constant of the spring element is changed according to the fluctuation of the natural frequency of the target structure. Can be changed in stages. However, it is difficult for the spring element having such a configuration to finely adjust the spring constant according to the fluctuation of the natural frequency of the target structure. Therefore, the spring constant is set according to the fluctuation of the natural frequency of the target structure. In many cases, it cannot be set with high accuracy. Furthermore, adjustment and maintenance of a plurality of coil springs are required, which may increase the installation cost and management cost of the vibration damping device.

  The mechanical spring element of the passive mechanism can also be constituted by a pendulum, for example. In this case, for example, if the length of the pendulum is changed so that the spring constant can be adjusted, the spring constant of the spring element can be adjusted according to the fluctuation of the natural frequency of the target structure. However, in the spring element having such a configuration, since the dimension in the height direction of the vibration damping device is significantly increased, there is a possibility that the vibration damping device cannot be installed depending on the structure of the target structure.

  In addition, in a passive vibration damping device and a hybrid vibration damping device including a passive mechanism, in order to obtain a higher vibration damping effect, the attenuation factor of the mechanical damping element depends on the acceleration of the vibration of the target structure. It is desirable to adjust. When an oil damper is used as the mechanical damping element, for example, if the oil damper is provided with a valve or an orifice so that the damping force can be adjusted stepwise, the damping element can be adjusted according to the acceleration of vibration of the target structure. Can be adjusted. However, the damping element having such a configuration cannot continuously adjust the damping rate in accordance with the acceleration of vibration of the target structure, and may cause a significant increase in cost of the vibration damping device.

  Further, in the conventional hybrid vibration damping device, the active mechanism is configured to reciprocate the movable mass by, for example, rotation of a ball screw attached to the rotating shaft of the electric motor. Therefore, a conventional hybrid vibration damping device is provided with a switching device such as a clutch mechanism in order to cut off the ball screw from the movable mass and cut off the driving force transmission of the electric motor when performing vibration damping control by the passive mechanism. Yes. Such a switching mechanism such as a clutch mechanism requires a mechanical device to smoothly and quickly connect the movable mass and the ball screw again after the ball screw is disconnected from the movable mass, so that the cost of the vibration damping device is reduced. Can be a factor that significantly increases

  The present invention has been made in view of such circumstances, and an object thereof is to provide a vibration damping device capable of finer vibration damping control at a low cost.

<First Aspect of the Present Invention>
According to a first aspect of the present invention, there is provided a movable mass that is supported by a target structure so as to be capable of reciprocating in a horizontal direction, a linear motor that drives the movable mass, and a vibration detection device that detects vibration of the target structure. A relative displacement detection device that detects a relative displacement between the movable mass and the target structure in the horizontal direction; and a control device that controls the linear motor based on vibration of the target structure and the relative displacement; The control device comprises passive control means for controlling the linear motor such that vibration of the target structure is suppressed by passively reciprocating the movable mass due to vibration of the target structure. Including a vibration control device.

  By controlling the linear motor so that the vibration of the target structure is suppressed by passively reciprocating the movable mass due to the vibration of the target structure in this way, the mechanical passive mechanism is not provided. Damping control similar to that of a damping device having a passive type mechanism can be performed. Accordingly, a vibration damping device that can perform the same vibration damping control as that of a vibration damping device including a mechanical passive mechanism can be realized at low cost. Further, by controlling the reciprocating motion of the movable mass with a linear motor, the control constant of the vibration damping control can be continuously adjusted, so that finer vibration damping control can be performed.

  Thereby, according to the 1st aspect of this invention, the effect that the damping device which can perform finer damping control can be provided at low cost is acquired.

<Second Aspect of the Present Invention>
According to a second aspect of the present invention, in the first aspect of the present invention described above, the passive control means is configured so that the linear motor functions as a spring element whose center of the movable range of the movable mass is a balance origin. A vibration damping device including means for controlling the linear motor.
According to the second aspect of the present invention, a mechanical spring element constituted by a coil spring or the like is electrically realized by control of a linear motor, so that a mechanical spring element is not provided. Damping control similar to that of a damping device including a spring element can be performed. Accordingly, it is possible to realize a vibration damping device that can perform the same vibration damping control as that of the vibration damping device including the mechanical spring element at a low cost.

<Third Aspect of the Present Invention>
According to a third aspect of the present invention, in the second aspect of the present invention described above, the passive control means includes means for adjusting a spring constant of the spring element in accordance with fluctuations in the natural frequency of the target structure. Including a vibration control device.
According to the third aspect of the present invention, the spring constant of the spring element is continuously adjusted according to the fluctuation of the natural frequency of the target structure by controlling the reciprocating motion of the movable mass with a linear motor. Can do. In other words, since the spring constant of the spring element can be finely adjusted according to the fluctuation of the natural frequency of the target structure, the reciprocating motion of the movable mass can be tuned with high accuracy with respect to the fluctuation of the natural frequency of the target structure. be able to. As a result, it is possible to reduce the possibility that the reciprocating motion of the movable mass is not synchronized with the natural frequency of the target structure and a sufficient damping effect cannot be obtained.

<Fourth aspect of the present invention>
According to a fourth aspect of the present invention, in any one of the first to third aspects of the present invention described above, the passive control unit functions as the damping element in which a damping force acts on the movable mass. Thus, there is provided a vibration damping device including means for controlling the linear motor.
According to the fourth aspect of the present invention, a mechanical damping element constituted by an oil damper or the like is electrically realized by the control of the linear motor, so that the mechanical damping element is not provided. Damping control similar to that of a damping device including a damping element can be performed. Accordingly, it is possible to realize a vibration damping device that can perform the same vibration damping control as that of the vibration damping device including the mechanical damping element at a low cost.

  According to the fourth aspect of the present invention, in particular, in the aspect in which both the spring element and the damping element are realized by the control of the linear motor, there is no mechanical element interposed between the target structure and the movable mass. It becomes unnecessary. Therefore, in this aspect, there is no restriction on the stroke length of the movable mass (the length of the movable range of the movable mass) due to a mechanical element interposed between the target structure and the movable mass. As a result, the stroke length of the movable mass can be made longer than that of the conventional vibration damping device, so that it is possible to realize a vibration damping device having the same power with a movable mass having a smaller mass than the movable mass of the conventional vibration damping device. .

<Fifth aspect of the present invention>
According to a fifth aspect of the present invention, in the fourth aspect of the present invention described above, the passive control means includes means for adjusting a damping coefficient of the damping element in accordance with acceleration of vibration of the target structure. It is a vibration control device.
According to the fifth aspect of the present invention, the reciprocating motion of the movable mass is controlled by the linear motor, so that the attenuation coefficient (attenuation rate) of the attenuation element is continuously adjusted according to the acceleration of the vibration of the target structure. can do. In other words, the damping coefficient of the damping element can be finely adjusted according to the vibration acceleration of the target structure, so that the movable mass always reciprocates with the optimum reciprocating width regardless of the vibration acceleration of the target structure. Can do. As a result, a high damping effect can always be obtained regardless of the acceleration of vibration of the target structure.

<Sixth aspect of the present invention>
According to a sixth aspect of the present invention, in the fourth aspect or the fifth aspect of the present invention described above, the sixth aspect includes a mover short-circuit device that short-circuits the mover of the linear motor, and the passive control means includes the linear motor. The vibration damping device includes means for setting the damping force generated by the short circuit of the mover as the damping force.
According to the sixth aspect of the present invention, a larger damping force can be obtained by using the braking force generated by the short circuit of the mover of the linear motor as the damping force.

<Seventh aspect of the present invention>
A seventh aspect of the present invention is the vibration damping device according to any one of the first to sixth aspects of the present invention described above, wherein the plurality of linear motors are arranged in parallel.
According to the seventh aspect of the present invention, it is possible to adjust the amount of force and the like of the vibration damping device by increasing or decreasing the number of linear motors that drive the movable mass. Therefore, according to the seventh aspect of the present invention, it is possible to obtain a higher damping effect by appropriately adjusting, for example, the amount of force of the damping device according to the acceleration of vibration of the target structure.

<Eighth aspect of the present invention>
According to an eighth aspect of the present invention, in any one of the first to seventh aspects of the present invention described above, the control device vibrates the target structure by actively reciprocating the movable mass. Active control means for controlling the linear motor to suppress, and means for switching between control by the active control means and control by the passive control means in accordance with acceleration of vibration of the target structure. It is a vibration device.
According to the eighth aspect of the present invention, the control of suppressing vibration of the target structure by actively reciprocating the movable mass, and the target by passively reciprocating the movable mass by the vibration of the target structure. Any control for suppressing the vibration of the structure is performed by the control of the linear motor. Therefore, a switching device such as a clutch mechanism provided in the conventional hybrid vibration damping device is not required while realizing the same function as that of the conventional hybrid vibration damping device. As a result, it is possible to realize a vibration damping device that can cope with a wide range of vibrations, from minute vibrations caused by wind to large vibrations caused by earthquakes, etc.

  ADVANTAGE OF THE INVENTION According to this invention, the damping device which can perform more detailed damping control can be provided at low cost.

The top view which illustrated the whole structure of the damping device which concerns on this invention. The block diagram of the motor control apparatus of the damping device which concerns on this invention. The control block diagram of passive control mode. The flowchart which illustrated the procedure of damping control. The control block diagram which illustrated the 1st modification of the vibration damping device which concerns on this invention. The control block diagram which illustrated the 2nd modification of the damping device which concerns on this invention. The control block diagram which illustrated the 3rd modification of the damping device which concerns on this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Configuration of vibration control device>
The configuration of the vibration damping device 100 according to the present invention will be described with reference to FIGS. 1 and 2.
FIG. 1 is a plan view illustrating the overall configuration of the vibration damping device 100. FIG. 2 is a block diagram of the motor control device of the vibration damping device 100.

  The vibration control device 100 is a device that is installed on the roof of a target structure (not shown) such as a high-rise building and reduces vibrations of the target structure due to an earthquake or strong wind. Prepare.

  The base frame 10 is a portion fixed to the target structure, and includes a stator 11, guide shafts 12 and 13, and a linear scale 14. The stator 11 is a permanent magnet stator common to a first linear motor 21 and a second linear motor 22 which will be described later. More specifically, the stator 11 includes a plurality of permanent magnet N poles 111 and permanent magnet S poles 112 arranged alternately along the horizontal direction X of the movable mass 20. The guide shafts 12 and 13 support the movable mass 20 so as to reciprocate in the horizontal direction X. The linear scale 14 is provided along the horizontal direction X, and together with a linear scale sensor 23 described later, a “relative displacement detection device” that detects a relative displacement between the movable mass 20 and the target structure in the horizontal direction X. As a linear encoder.

  The movable mass 20 is supported by the target structure so as to be able to reciprocate in the horizontal direction X by the guide shafts 12 and 13, and has a weight sufficient to cause the inertial force that suppresses vibration of the target structure to act on the target structure. It is a structure. The movable mass 20 includes a first linear motor 21, a second linear motor 22, and a linear scale sensor 23.

  The first linear motor 21 and the second linear motor 22 are linear synchronous motors that serve as driving force sources for the movable mass 20. More specifically, the first linear motor 21 includes three armature windings L11 to L13, and includes the three armature windings L11 to L13 and the stator 11. Similarly, the second linear motor 22 includes three armature windings L21 to L23, and includes the three armature windings L21 to L23 and the stator 11. The armature windings L11 to L13 of the first linear motor 21 and the armature windings L21 to L23 of the second linear motor 22 are configured to be wound around the same shape iron core, and have the same thickness and length. It is an armature winding of the same structure constituted by winding a conducting wire with the same number of turns. The linear scale sensor 23 is a sensor that detects a grid scale formed on the linear scale 14 and outputs a pulse signal.

  The motor control device of the vibration damping device 100 includes an inverter 31, a control unit 32, a first switch circuit 33, a second switch circuit 34, and a vibration sensor 40.

  The inverter 31 is a known circuit that generates a three-phase AC motor drive pulse from a DC voltage. The U-phase output of the inverter 31 is connected to one end side of the armature winding L11. The V-phase output of the inverter 31 is connected to one end side of the armature winding L12. The W-phase output of the inverter 31 is connected to one end side of the armature winding L13.

  The control unit 32 is a known microcomputer control circuit, and controls the first linear motor 21 and the second linear motor 22 based on the vibration and relative displacement of the target structure. More specifically, the control unit 32 sets a target speed of the first linear motor 21 and the second linear motor 22 based on the vibration and relative displacement of the target structure, and sets a speed deviation between the target speed and the motor speed. Based on this, the duty ratio of the motor drive pulse output from the inverter 31 is controlled. The vibration sensor 40 as the “vibration detection device” is a sensor that detects acceleration of vibration of the target structure in which the vibration suppression device 100 is installed.

  The first switch circuit 33 includes three switches SW1 to SW3 including, for example, an electromagnetic relay, a semiconductor relay (Solid State Relay: SSR), or the like. The switch SW1 is provided so that the connection between the U-phase output of the inverter 31 and one end side of the armature winding L21 can be turned on / off. Switch SW2 is provided so that the connection between the V-phase output of inverter 31 and one end of armature winding L22 can be turned on / off. The switch SW3 is provided so that the connection between the W-phase output of the inverter 31 and one end side of the armature winding L23 can be turned on / off.

The second switch circuit 34 includes five switches SW11 to SW15 made of, for example, electromagnetic relays or semiconductor relays. The switch SW11 is provided so that the connection between the other end side of the armature winding L11 and one end side of the armature winding L21 can be turned on / off. The switch SW12 is provided so that connection between the other end side of the armature winding L12 and one end side of the armature winding L22 can be turned on / off. The switch SW13 is provided so that connection between the other end side of the armature winding L13 and one end side of the armature winding L23 can be turned on / off. The switch SW14 is provided so that the connection between the other end side of the armature winding L11 and the other end side of the armature winding L12 can be turned on / off. The switch SW15 is provided so that the connection between the other end side of the armature winding L12 and the other end side of the armature winding L13 can be turned on / off.
The other end side of the armature winding L21, the other end side of the armature winding L22, and the other end side of the armature winding L23 are connected without a switch.

  The control unit 32 selectively switches the connection of the armature windings of the first linear motor 21 and the second linear motor 22 based on, for example, the acceleration of vibration of the target structure. For example, by turning off the switches SW1 to SW3 of the first switch circuit 33, turning off the switches SW11 to SW13 of the second switch circuit 34, and turning on the SW14 and SW15, only the armature winding of the first linear motor 21 is obtained. Connected to the inverter 31. Further, the switches SW1 to SW3 of the first switch circuit 33 are turned off, the switches SW11 to SW13 of the second switch circuit 34 are turned on, and SW14 and SW15 are turned off, whereby the first linear motor 21 and the second linear motor 22 are switched. An armature winding is connected to the inverter 31 in series. On the other hand, the first linear motor 21 and the second linear motor 22 are turned on by turning on the switches SW1 to SW3 of the first switch circuit 33, turning off the switches SW11 to SW13 of the second switch circuit 34, and turning on SW14 and SW15. Are connected to the inverter 31 in parallel.

  As described above, the vibration damping device 100 according to the present invention includes a plurality of linear motors (the first linear motor 21 and the second linear motor 22) that drive the movable mass 20, and the plurality of linear motors as described above. It is preferable that the connection can be changed. As a result, the force of the vibration damping device 100 can be adjusted. For example, a higher vibration damping effect can be obtained by appropriately adjusting the force of the vibration damping device 100 according to the acceleration of vibration of the target structure. it can.

<Active control mode>
In the active control mode as the “active control means” executed by the control unit 32, the first linear motor 21 and the second linear motor 22 are controlled so as to suppress vibration of the building by actively reciprocating the movable mass 20. It is a control mode to control. That is, the active control mode is a control mode in which the movable mass 20 is not reciprocated by the vibration of the building, but the vibration of the building is reduced by the reciprocating of the movable mass 20 by itself.

<Passive control mode>
A passive control mode as “passive control means” executed by the control unit 32 in the vibration damping device 100 according to the present invention will be described with reference to FIG.
FIG. 3 is a control block diagram of the passive control mode.

  In the passive control mode, the control unit 32 causes the first linear motor 21 and the second linear so that the vibration of the target structure is suppressed by the reciprocating motion of the movable mass 20 by the vibration of the target structure. The motor 22 is controlled. More specifically, for example, the first linear motor 21 and the second linear motor 22 are arranged so that the movable mass 20 vibrates with a phase delayed by 90 degrees at the same cycle as the vibration of the target structure due to the vibration of the target structure. Control.

  The relative displacement amount calculation unit 321 calculates the relative displacement amount of the movable mass 20 with respect to the target structure based on the output signal of the linear scale sensor 23. The differential element unit 322 calculates the speed of the movable mass 20 by differentiating the relative displacement amount of the movable mass 20 with respect to the target structure.

  The spring element portion 323 controls the first linear motor 21 and the second linear motor 22 so that the first linear motor 21 and the second linear motor 22 function as spring elements in which a spring force acts on the movable mass 20. The spring force is calculated. More specifically, the spring element portion 323 calculates a spring force −kx in which the center of the movable range of the movable mass 20 is the balance origin. Here, k is a spring constant. Further, x is the position of the movable mass 20 with the center of the movable range of the movable mass 20 as the origin, in other words, the relative displacement amount of the movable mass 20 with respect to the target structure. Further, the spring element portion 323 can continuously adjust the spring constant k to an arbitrary value.

  The damping element unit 324 controls the first linear motor 21 and the second linear motor 22 so that the first linear motor 21 and the second linear motor 22 function as a damping element in which a damping force acts on the movable mass 20. Calculate the damping force. More specifically, the damping element unit 324 calculates a damping force −cv that acts on the movable mass 20. Here, c is an attenuation coefficient. Further, v is the speed of the movable mass 20 calculated by the differential element unit 322. Further, the attenuation element unit 324 can continuously adjust the attenuation coefficient c to an arbitrary value.

  The adding element unit 325 adds the spring force calculated by the spring element unit 323 and the damping force calculated by the damping element unit 324 and uses this as the control force of the first linear motor 21 and the second linear motor 22.

  As described above, the vibration damping device 100 according to the present invention includes the first linear motor 21 and the first linear motor 21 so that the vibration of the target structure is suppressed by passively reciprocating the movable mass 20 by the vibration of the target structure. 2 The linear motor 22 is controlled. Therefore, it is possible to perform the same vibration damping control as that of the vibration damping device including the mechanical passive mechanism without providing the mechanical passive mechanism. Accordingly, a vibration damping device that can perform the same vibration damping control as that of a vibration damping device including a mechanical passive mechanism can be realized at low cost. In addition, by controlling the reciprocating motion of the movable mass 20 with the first linear motor 21 and the second linear motor 22, the control constant of the vibration suppression control can be continuously adjusted, so that finer vibration suppression control is performed. Can do. Therefore, according to the vibration damping device 100 of the present invention, it is possible to provide a vibration damping device capable of finer vibration damping control at a low cost.

  More specifically, by realizing a spring element electrically with the spring element portion 323, a vibration damping device capable of performing vibration damping control similar to that of a vibration damping device including a mechanical spring element can be achieved at low cost. Can be realized. Further, since the spring constant k can be continuously adjusted by electrically realizing the spring element by the spring element portion 323, finer vibration damping control can be performed. The spring constant k of the spring element portion 323 is preferably adjusted according to the fluctuation of the natural frequency of the target structure so that the reciprocating motion of the movable mass 20 is synchronized with the natural frequency of the target structure, for example. As a result, the reciprocating motion of the movable mass 20 can be tuned with high accuracy with respect to the fluctuation of the natural frequency of the target structure, so that the reciprocating motion of the movable mass 20 is not synchronized with the natural frequency of the target structure. The possibility that a sufficient vibration damping effect cannot be obtained can be reduced.

  Further, by electrically realizing the damping element by the damping element unit 324, it is possible to realize a vibration damping device capable of performing the same damping control as that of the vibration damping device including the mechanical damping element at low cost. . In addition, since the attenuation coefficient c can be continuously adjusted by electrically realizing the attenuation element by the attenuation element unit 324, finer vibration suppression control can be performed. The damping coefficient c of the damping element unit 324 is preferably adjusted according to the acceleration of vibration of the target structure so that, for example, the reciprocating width of the movable mass 20 is optimized. As a result, the movable mass 20 can always be reciprocated with the optimum reciprocating width regardless of the acceleration of the vibration of the target structure, so that a high damping effect is always obtained regardless of the acceleration of the vibration of the target structure. be able to.

  Furthermore, by realizing the spring element electrically with the spring element portion 323 and electrically with the damping element portion 324, the mechanical element interposed between the target structure and the movable mass 20 can be reduced. No need at all. Therefore, the vibration damping device 100 of the embodiment has a stroke length of the movable mass 20 (the length of the movable range of the movable mass 20) due to a mechanical element interposed between the target structure and the movable mass 20. There are no restrictions. As a result, the stroke length of the movable mass 20 can be made longer than that of the conventional vibration damping device, so that a vibration damping device having the same power can be realized with the movable mass 20 having a smaller mass than the movable mass of the conventional vibration damping device. Can do.

<Vibration control>
The vibration suppression control executed by the control unit 32 in the vibration suppression device 100 according to the present invention will be described with reference to FIG.
FIG. 4 is a flowchart illustrating a vibration suppression control procedure.

  The control unit 32 switches between the control in the active control mode and the control in the passive control mode according to the acceleration of the vibration of the building (target structure). More specifically, the control unit 32 switches the control mode using the acceleration of the part where the building vibration control device 100 is installed as an evaluation value. The acceleration of the building is detected by the vibration sensor 40 and evaluated by an absolute value.

  First, the control mode is set to the active control mode (step S1). Subsequently, it is determined whether or not the acceleration of the building exceeds the threshold A (step S2). The threshold A is a value that is appropriately set according to the structure of the building, the power of the vibration damping device 100, and the like as a vibration limit value that allows sufficient vibration damping in the active control mode, for example. If the building acceleration does not exceed the threshold A (No in step S2), the vibration suppression control is continued in the active control mode.

  If the acceleration of the building exceeds the threshold A (Yes in step S2), it is then determined whether the acceleration of the building exceeds the threshold B (step S3). The threshold value B is an acceleration value larger than the threshold value A. For example, the threshold value B is a vibration limit value that allows sufficient vibration suppression in the above-described passive control mode. The value to be set. If the building acceleration does not exceed the threshold B (No in step S3), the control mode is set to the above-described passive control mode (step S4).

  When the acceleration of the building exceeds the threshold B (Yes in Step S3), the operation of the vibration damping device 100 is stopped (Step S5). Next, it is determined whether or not the building acceleration has decreased to a threshold value B or less (step S6). More specifically, it is determined whether or not the state in which the acceleration of the building has decreased below the threshold value B has continued for a preset time. When the acceleration of the building has not decreased below the threshold value B (No in step S6), the state where the operation of the vibration damping device 100 is stopped is maintained as it is (step S5). When the state where the acceleration of the building has decreased below the threshold value B continues for a preset time (Yes in step S6), the control mode is set to the passive control mode (step S4).

  In the passive control mode, it is determined whether or not the building acceleration has decreased to a threshold value A or less (step S7). More specifically, it is determined whether or not the state in which the acceleration of the building has decreased below the threshold value A has continued for a preset time. If the building acceleration has not decreased below the threshold A (No in step S7), the process returns to step S3. When the state where the acceleration of the building has decreased below the threshold A continues for a preset time (Yes in step S7), the control mode is set to the active control mode (step S1).

  As described above, in the vibration damping device 100 according to the present invention, it is preferable that the control by the active control mode and the control by the passive control mode are both performed by the control of the first linear motor 21 and the second linear motor 22. While realizing the same function as that of the conventional hybrid vibration damping device, a switching device such as a clutch mechanism provided in the conventional hybrid vibration damping device becomes unnecessary. As a result, it is possible to realize a vibration damping device that can cope with a wide range of vibrations from minute vibrations caused by wind to large vibrations caused by earthquakes and the like at low cost.

<Modification>
A modification of the vibration damping device 100 according to the present invention will be described with reference to FIGS.

FIG. 5 is a control block diagram illustrating a first modification of the vibration damping device 100.
In the first modification of the vibration damping device 100, a mechanical damping mechanism 51 is provided instead of the damping element portion 324 of the embodiment shown in FIG. Since the other configuration is the same as that of the above-described embodiment, the same components are denoted by the same reference numerals and detailed description thereof is omitted.

  As described above, the vibration damping device 100 according to the present invention can realize the spring element with the electric spring element portion 323 and the mechanical damping mechanism 51 for the damping element. Accordingly, it is possible to realize a vibration damping device that can perform the same vibration damping control as that of the vibration damping device including the mechanical spring element at a low cost. Further, since the spring constant k can be continuously adjusted by electrically realizing the spring element by the spring element portion 323, finer vibration damping control can be performed.

FIG. 6 is a control block diagram illustrating a second modification of the vibration damping device 100.
In the second modification of the vibration damping device 100, a mechanical spring mechanism 52 is provided instead of the spring element portion 323 of the embodiment shown in FIG. Since the other configuration is the same as that of the above-described embodiment, the same components are denoted by the same reference numerals and detailed description thereof is omitted.

  As described above, in the vibration damping device 100 according to the present invention, the damping element can be realized by the electrical damping element portion 324, and the spring element can be a mechanical spring mechanism 52. Accordingly, it is possible to realize a vibration damping device that can perform the same vibration damping control as that of the vibration damping device including the mechanical damping element at a low cost. In addition, since the attenuation coefficient c can be continuously adjusted by electrically realizing the attenuation element by the attenuation element unit 324, finer vibration suppression control can be performed.

FIG. 7 is a control block diagram illustrating a third modification of the vibration damping device 100.
In addition to the vibration damping device 100 of the second modification, the third variation of the vibration damping device 100 further includes the armature windings L11 to L13 of the first linear motor 21 and the armature winding L21 of the second linear motor 22. A mover short-circuit device 35 for short-circuiting L23 is provided. Since the other configuration is the same as that of the second modified example, the same components are denoted by the same reference numerals and detailed description thereof is omitted.

  For example, in a state where the armature windings L11 to L13 of the first linear motor 21 are short-circuited, an induced electromotive force is generated in the armature windings L11 to L13 due to the movement of the movable mass 20. When a current generated by the induced electromotive force flows through the armature windings L11 to L13, a magnetic field in a direction opposite to the magnetic field that generated the electromotive force is generated, and thereby a braking force acts on the movable mass 20.

  The control unit 32 of the third modified example executes vibration suppression control in the passive control mode by using the braking force generated by short-circuiting the mover of the first linear motor 21 or the second linear motor 22 as a damping force. . Thereby, a larger damping force can be obtained. In addition, for example, when the armature windings L11 to L13 are short-circuited, the current generated by the induced electromotive force can be adjusted if the resistance value is variably set when the short-circuiting is performed via a resistor. The braking force generated by the mover short circuit can be adjusted.

Note that the present invention is not particularly limited to the above-described embodiments and modifications, and it goes without saying that various modifications are possible within the scope of the invention described in the claims.
For example, the vibration damping device 100 according to the present invention can be a vibration damping device that operates only in the above-described passive control mode, and the effects of the present invention can also be obtained in such an aspect.

20 movable mass 21 first linear motor 22 second linear motor 23 linear scale sensor 32 control unit 35 mover short-circuit device 100 damping device 321 relative displacement calculation unit 322 differential element unit 323 spring element unit 324 damping element unit 325 addition element Part

Claims (8)

A movable mass supported by the target structure so as to be capable of reciprocating in the horizontal direction;
A linear motor for driving the movable mass;
A vibration detecting device for detecting vibration of the target structure;
A relative displacement detection device for detecting a relative displacement between the movable mass and the target structure in the horizontal direction;
A control device for controlling the linear motor based on the vibration of the target structure and the relative displacement,
The control device includes a passive control unit that controls the linear motor such that vibration of the target structure is suppressed by passively reciprocating the movable mass due to vibration of the target structure. apparatus.   2. The vibration damping device according to claim 1, wherein the passive control means includes means for controlling the linear motor so that the linear motor functions as a spring element whose center of the movable range of the movable mass is a balance origin. , Damping device.   3. The vibration damping device according to claim 2, wherein the passive control unit includes a unit that adjusts a spring constant of the spring element in accordance with a variation in a natural frequency of the target structure.   4. The vibration damping device according to claim 1, wherein the passive control unit controls the linear motor so that the linear motor functions as a damping element in which a damping force acts on the movable mass. 5. Damping device including means.   5. The vibration damping device according to claim 4, wherein the passive control means includes means for adjusting a damping coefficient of the damping element in accordance with acceleration of vibration of the target structure. The vibration damping device according to claim 4 or 5, further comprising a mover short-circuit device that short-circuits the mover of the linear motor,
The said passive control means is a damping device containing the means which uses the braking force produced by the needle | mover short circuit of the said linear motor as the said damping force.   The vibration damping device according to any one of claims 1 to 6, wherein the plurality of linear motors are arranged in parallel. The vibration damping device according to any one of claims 1 to 7, wherein the control device controls the linear motor to suppress vibration of the target structure by actively reciprocating the movable mass. Active control means to control;
A vibration control device comprising: means for switching between control by the active control means and control by the passive control means in accordance with acceleration of vibration of the target structure.

Images