JP2016098864A - Mass variable inertia vibration control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a variation control device including a control system capable of efficiently controlling vibration by controlling the magnitude of inertia mass of a damper in accordance with characteristics of variation between two members.SOLUTION: When a casing 2 and a sleeve 3 are relatively moved in an axial direction by vibration between vibration control targets, a ball screw 4 screwed with a ball nut 5 is integrally rotated with a rotating shaft member 6. An electromagnet unit 10 is fixed to the casing 2. The electromagnet unit 10 forms a magnetic field crossing a sealed area 15 with the rotating shaft member 6 as a part of a magnetic circuit through energization. Viscosity of a magnetic viscous fluid 16 sealed in the sealed area 15 is varied in accordance with intensity of the magnetic field applied by the electromagnet unit 10, and the inertia mass of the rotating shaft member 6 is apparently varied in response to it.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a vibration damping device using a rotary inertia mass and a magnetorheological fluid for reducing relative vibration in the approaching / separating direction generated between, for example, two members.

  2. Description of the Related Art Conventionally, a rotary inertia mass type vibration damping device described in Patent Document 1 is known. The vibration damping device includes a casing formed by a first cylinder and a second cylinder. A sleeve that can move forward and backward is disposed in the first cylinder, and a ball nut is attached to the sleeve, and the forward and backward movement of the sleeve is converted into rotational motion by a ball screw to rotate the flywheel in the second cylinder. A sealed region is formed between the flywheel and the inner surface of the second cylinder, where the magnetorheological fluid is enclosed. On the inner periphery of the second cylinder, magnetic field forming means for forming a magnetic field capable of adjusting the strength across the sealed region is disposed with the flywheel as a part of the magnetic circuit. The magnetorheological fluid imparts rotational resistance to the flywheel due to its viscosity. The sleeve moves forward and backward with respect to the casing due to vibration between the two members to be controlled. This forward / backward movement is converted into a rotational movement of the ball screw, and rotates the flywheel in the second cylinder. The vibration between the two members to be controlled is damped by the moment of inertia by the flywheel and the viscous resistance by the magnetorheological fluid.

JP 2012-184816 A

  The present invention provides a new damping system including a control circuit that allows the damping device described in Patent Document 1 to be effectively damped by controlling the damping device according to the characteristics of vibration between two members. The object is to provide a vibration device.

Hereinafter, the present invention will be described with reference to the accompanying drawings, but the present invention is not limited thereto.
In order to solve the above problems, a mass variable inertial vibration damping device 101 of the present invention includes a damper 1 and a control circuit 22 having a control device 18 that adjusts the inertial mass thereof according to vibration. The damper 1 is fixed to the casing 2 fixed to one member that is the object of vibration suppression, and is fixed to the other member that is the object of vibration suppression, and is inserted into the casing 2 so as to be movable back and forth in the axial direction and not rotatable about the axis. And a sleeve 3. A ball screw 4 is supported in the casing 2 so as to be rotatable about an axis and not movable in the axial direction. A ball nut 5 that is screwed onto the ball screw 4 is fixed to the sleeve 3. The ball nut 5 converts the axial relative displacement between the casing 2 and the sleeve 3 into the rotational motion of the ball screw 4. A rotating shaft member 6 made of a soft magnetic material is coaxially coupled to the ball screw 4 in the casing 2. The electromagnet unit 10 is fixed inside the casing 2, and forms a sealed region 15 between the outer periphery of the rotary shaft member 6. The electromagnet unit 10 forms a magnetic field across the sealed region 15 with the rotating shaft member 6 as a part of the magnetic circuit when energized. A magnetorheological fluid 16 is enclosed in the sealed region 15. The magnetorheological fluid 16 applies a resistance force due to viscosity to the rotation of the rotating shaft member 6. The magnetorheological fluid 16 has a property that the viscosity changes depending on the strength of the magnetic field applied by the electromagnet unit 10. This change in viscosity is not affected by the speed and acceleration of the vibration to be controlled. The electromagnet unit 10 is supplied with a current adjusted by a control circuit 22 having a control device 18, thereby forming a magnetic field across the sealed region 15. Due to the change in the magnetic field, the resistance force due to the viscosity of the magnetorheological fluid 16 with respect to the rotation of the rotating shaft member 6 changes, and the apparent magnitude of the inertial mass changes accordingly. The control circuit 22 measures the displacement and speed between the two vibration suppression target members and sends the data to the control device 18, and the speedometer 19 and the acceleration of the vibration suppression target member measure the data. An accelerometer 20 that is sent to the control device 18 and a load meter 21 that measures a load during vibration and sends data to the control device 18 are provided. The control device 18 receives each data, calculates the magnitude of the inertial mass necessary for damping, and controls the DC power supply 17 so as to output a current corresponding to the magnitude to the electromagnet unit 10.

  The vibration damping device 101 of the present invention supplies the current adjusted by the control device 18 to the electromagnet unit 10 of the damper 1, thereby adjusting the magnetic field across the sealed region 15. The characteristics of vibration between the two members are measured by the measuring instruments 19, 20, and 21, and the control device 18 adjusts the magnetic field in accordance with the data, thereby changing the apparent magnitude of the inertial mass. Effectively controls vibration between members.

It is explanatory drawing of the damping device which concerns on this invention. It is sectional drawing of the variable inertia mass damper in the damping device of FIG. FIG. 3 is a partial cross-sectional view of the variable inertia mass damper of FIG. 2. FIG. 3 is a partial cross-sectional view illustrating an outline of a magnetic field formed in the variable inertia mass damper of FIG. 2. It is a graph which shows the relationship between the displacement of an inertial mass damper, and an inertial force. It is a graph which shows the relationship between the displacement of a magnetorheological fluid damper, and damping force. It is a graph which shows the relationship between the displacement of a magnetorheological fluid damper, and damping force, Comprising: The hysteresis loop of the damping force change when an applied electric current is controlled according to displacement is shown. 8 is a chart showing the relationship between the displacement and damping force of a variable inertia mass damper that combines the characteristics of the inertia damper of FIG. 5 and the characteristics of the magnetorheological fluid damper of FIG. It is a graph which shows the relationship between the displacement of the variable inertia mass damper which concerns on this invention, and damping force, Comprising: The hysteresis loop of damping force change when an applied electric current is controlled according to displacement is shown. It is explanatory drawing which shows the adjustable range of the apparent inertial mass with respect to the displacement of a variable inertial mass damper. 7 is a chart showing the relationship between the displacement and damping force of a variable inertia mass damper combining the characteristics of the inertia damper of FIG. 5 and the characteristics of the magnetorheological fluid damper of FIG.

Embodiments of the present invention will be described with reference to the drawings.
In FIG. 1, a mass variable type inertial damping device 101 according to the present invention includes an inertial mass damper 1 and a control circuit 22 including a control unit 18 that changes the mass of the inertial mass damper 1. The damper 1 includes a casing 2 that is fixed to one member that is a vibration suppression target via a puller 2a, and a sleeve 3 that is fixed to the other member that is a vibration suppression target via a puller 3a. .

  2 and 3, the casing 2 includes a large-diameter cylinder 2b and a small-diameter cylinder 2c that are coaxially coupled. The large diameter cylinder 2b is closed by an end wall 2d on one end side, and communicates with the small diameter cylinder 2c on the other end side. A puller 2a is attached to the outside of the end wall 2d.

  A ball screw 4 is provided in the small-diameter cylinder 2c of the casing 2 so as to penetrate the shaft center thereof. The ball screw 4 is supported by the casing 2 so as to be rotatable about an axis and not movable in the axial direction.

  The sleeve 3 has a cylindrical shape, and one end thereof is inserted into the small-diameter cylinder 2c so as to be able to advance and retract in the axial direction and not to rotate around the axis.

  A ball nut 5 screwed into the ball screw 4 is fixed to one end of the sleeve 3 inserted into the small diameter cylinder 2c. One end of the ball screw 4 extends along the axis of the sleeve 3 through the ball nut 5. The ball nut 5 converts the relative movement in the axial direction between the casing 2 and the sleeve 3 due to the vibration between the two members to be controlled, into the rotational motion of the ball screw 4.

  One end of the rotating shaft member 6 made of a soft magnetic material is coaxially coupled to the other end of the ball screw 4 via the torque relief mechanism 7. The torque relief mechanism 7 is a safety device that prevents the torque generated by the rotation of the rotating shaft member 6 from being transmitted to the ball screw 4 by relief.

  The other end of the rotating shaft member 6 is supported by the lid 2d of the large-diameter cylinder 2b via the accumulator pipe 8 and the support shaft 9 so as to be relatively rotatable.

  A substantially cylindrical electromagnet unit 10 is fixed in the large-diameter cylinder 2b with an interval on the outer peripheral side of the rotary shaft member 6. The rotary shaft member 6 is rotatable relative to the electromagnet unit 10 around the axis. The electromagnet unit 10 is fixed to the large-diameter cylinder 2b via a pair of holding rings 11 and 12 fixed in the large-diameter cylinder 2b. The electromagnet unit 10 is configured by holding a plurality of coils 10b and a yoke 10c, which is a soft magnetic material, inside a substantially cylindrical magnet casing 10a. The coil 10b and the yoke 10c are coupled to the magnet casing 10a by a key 10d. The magnet casing 10a is fixed to the holding rings 11 and 12 at both ends. Between the holding ring 11 and the outer periphery of the rotating shaft member 6 and between the holding ring 12 and the outer periphery of the accumulator pipe 8, rotational sealing materials 13 and 14 are interposed, respectively. As a result, a sealed region 15 is formed between the electromagnet unit 10 and the outer periphery of the rotary shaft member 6. A magnetorheological fluid 16 is enclosed in the sealed region 15. As shown in FIG. 3, the magnetorheological fluid 16 is injected from the supply path 11 a of the holding ring 11 that leads to the sealed region 15. The supply port is closed with a cap 11b.

  One end of the accumulator pipe 8 is closed with a stopper 8a, fixed to the rotary shaft member 6 with a bolt, and the other end is closed with a support shaft 9, and is connected to the end wall 2d of the casing 2 via a rotary bearing. Be supported. One end of the accumulator pipe 8 communicates with the sealed region 15 through a passage 8b in the magnet unit 10. A free piston 8c and a spring 8d are inserted into the accumulator pipe 8. The increase or decrease in volume due to the thermal expansion of the magnetorheological fluid 16 in the sealed region 15 is absorbed by the movement of the free piston 8c and the expansion and contraction of the spring 8d.

  As shown in FIG. 4, the electromagnet unit 10 forms a magnetic field M across the sealed region 15 by energizing the coil 10 b with the rotary shaft member 6 as a part of the magnetic circuit. The viscosity of the magnetorheological fluid 16 filled in the sealed region 15 changes depending on the strength of the magnetic field M applied by the electromagnet unit 10. The magnetorheological fluid 16 imparts a resistance force to the rotation of the rotating shaft member 6 due to its viscosity. The resistance force against the rotating shaft member 6 depends on the strength of the magnetic field M. Therefore, as shown in FIG. 1, the damping force with respect to the input speed to the damper 1 can be changed by changing the current supplied from the power source 17 to the coil 10 b by the control device 18. Further, due to the acceleration input to the damper 1, an inertial force is generated when the rotating shaft member 6 rotates at a certain rotational acceleration. That is, the damper 1 is substantially a combination of an inertia damper and a magnetorheological fluid damper.

  FIG. 5 shows the relationship between the general displacement of the inertia damper and the inertia force. As shown in FIG. 5, the relationship between the displacement of the inertia damper and the inertial force has a property like a reverse spring having a negative slope shown by a straight line a. This inclination depends on the inertial mass and the relative acceleration input to the mass variable type inertial damping device, and becomes larger as the inertial mass and the relative acceleration are larger. Further, the damping force of the mass variable inertial damping device depends on the magnitude of the magnetic field generated in the electromagnet unit 10 by the applied current. FIG. 6 shows a general relationship between the damping force obtained by the change of the applied current and the piston displacement. The magnetorheological fluid damper can adjust the resistance force freely if it is less than the maximum damping force during one cycle of movement by changing the applied current value every moment with respect to the movement of the controlled object. It is possible to draw a history loop freely between the maximum damping force and the maximum damping force. For example, it is possible to draw a hysteresis loop that increases the damping force by applying a current when the displacement reaches the maximum as shown in FIG.

  In this mass variable inertial damping device, the same effect as connecting the inertial damper and the magnetorheological fluid damper in parallel can be obtained with one damper. The variable mass type inertial damping device outputs a load in which the inertial force of the inertial damper and the damping force characteristic of the magnetorheological fluid damper are combined. FIG. 8 shows the relationship between the displacement and the damping force as the characteristic of the mass variable inertial damping device when this load is the damping force. A straight line a in FIG. 8 indicates the inclination of the reverse spring, which is the relationship between the displacement of the inertia damper and the inertia force. In FIG. 8, the maximum current is applied at the maximum displacement point in the second quadrant to maximize the damping force of the magnetorheological fluid damper, and the current value decreases as the displacement decreases. No application. The current value remains unchanged until the displacement reaches the maximum value, and when the maximum displacement value in the fourth quadrant is reached, the maximum current is applied in the same way. By making no application in the vicinity, a hysteresis loop as shown by a solid line b in FIG. 9 is obtained. In FIG. 9, a straight line c is obtained by connecting the maximum damping force point A during tension and the maximum damping force point B during compression of the casing 2 and the sleeve 3. Further, the slope of the straight line d connecting the maximum damping force point A ′ during tension and the maximum damping force point B ′ during compression without application can be increased by applying a current according to the characteristics of the magnetorheological fluid damper. Here, since the inertia damper has the characteristic that the inclination of the reverse spring increases as the inertia mass increases, the inertia mass appears apparent by applying a current to the mass variable inertia damping device to increase the inclination of the straight line d. It will be increased. In addition, since the resistance force can be varied by performing current control according to the characteristics of the magnetorheological fluid damper, the inclination can be adjusted within the range of the region e shown in FIG. Therefore, the apparent inertial mass can be increased by current control regardless of the input acceleration within the range of the region e.

  In this mass variable inertia damping device, which has the same effect as the inertia damper and the magnetorheological fluid damper connected in parallel, the inertial mass is increased and the damping force is increased by combining the characteristics of the inertia damper and the magnetorheological fluid damper. It is possible to obtain increased characteristics. FIG. 11 shows the relationship between displacement and damping force when the characteristics of the inertia damper shown in FIG. 5 and the characteristics of the magnetorheological fluid damper shown in FIG. 6 are combined. A straight line a in FIG. 11 indicates the inclination of the reverse spring, which is the relationship between the displacement of the inertia damper and the inertia force. In FIG. 11, a straight line c is obtained by connecting the maximum damping force point A during tension and the maximum damping force point B during compression of the casing 2 and the sleeve 3. Further, let d be a straight line connecting the maximum damping force point A ′ during tension and the maximum damping force point B ′ during compression without application. The slope of the straight line d in FIG. 11 can be increased by applying a current according to the characteristics of the magnetorheological fluid damper. Here, since the inertia damper has the characteristic that the inclination of the reverse spring increases as the inertia mass increases, the inertia mass appears apparent by applying a current to the mass variable inertia damping device to increase the inclination of the straight line d. It will be increased. Therefore, by increasing the damping force, the absorption energy of the device is increased, and a characteristic that the inertial mass is apparently increased can be obtained. In addition, since the resistance force can be varied by performing current control according to the characteristics of the magnetorheological fluid damper, the inclination can be adjusted within the range of the region e shown in FIG. Therefore, if it is within the range of the region e, it is possible to increase the apparent inertial mass and increase the damping force by current control regardless of the input acceleration.

  FIG. 1 shows an example of a vibration damping device 101 including a damper 1 and a control circuit 22. The control device 18 apparently adjusts the current for increasing or decreasing the inertial mass of the damper 1 according to the vibration characteristics. For example, the damper 1 is interposed between the floor Q, which is one vibration suppression target member, and the support member P, which is the other vibration suppression target member fixed on the ground E. The floor Q is supported on the ground E by a support member S such as a laminated rubber or a roller that can be displaced and deformed in the horizontal direction, and the vibration control object 23 is supported thereon. A displacement / speed meter 19 is provided for measuring the displacement and speed between the support member P and the floor Q and sending the data to the control device 18. The vibration control object 23 on the floor Q that is one vibration control target member is provided with an accelerometer 20 that measures acceleration and sends data to the control device 18. Between the casing 2 or the sleeve 3 (sleeve 3 in FIG. 1) and either one of the vibration suppression target members (supporting member P in FIG. 1), the load during vibration is measured and the data is sent to the control device 18. A load cell 21 is provided. The control device 18 receives the data, calculates the magnitude of the inertial mass necessary for damping, controls the DC power supply 17 so as to output a current corresponding to the magnitude to the electromagnet unit 10, and apparently displays the inertial mass. Adjust the mass.

  In the schematic diagram shown in FIG. 1, the vibration system is divided into a main vibration system between P and Q and a sub vibration system between the casing 2 and the sleeve 3 of the damper 1. When vibration is input from the outside, the damper 1 which is a secondary vibration system vibrates by outputting a damping force having a phase opposite to that of the external force. By matching the natural frequency of the secondary vibration system that vibrates with the output of the antiphase damping force with the frequency input from the outside, the input vibration is canceled out, and the object to be controlled is the main vibration system. The displacement amplitude of can be made zero. For various vibrations input from the outside, the inertial mass of the damper 1 is changed by control so that the vibration frequency input from the outside matches the natural frequency of the secondary vibration system. Thus, the displacement amplitude of the main vibration system can always be zero. As a result, the object to be controlled can be protected by reducing the displacement amplitude transmitted to the external vibration caused by an earthquake or the like to zero.

  That is, vibration input due to an earthquake or the like is detected by any one of the load meter 21, the displacement meter / velocity meter 19, and the accelerometer 20 to determine the state of the controlled object. Data from each measuring instrument is sent to the control device 18 to calculate a necessary mass, and a control signal is sent to the DC power source 17. A damping force is generated by changing the inertial mass of the damper 1 by the current output from the DC power supply 17. Thus, feedback control is performed by the control device 18 so that the amplitude of the main vibration system approaches zero.

DESCRIPTION OF SYMBOLS 1 Damping device 2 Casing 2a Puller 2b Large diameter part 2c Small diameter part 2d End wall 3 Sleeve 3a Puller 4 Ball screw 5 Ball nut 6 Rotating shaft member 7 Torque relief mechanism 8 Accumulator pipe 8a Plug 8b Passage 8c Free piston 8d Spring 9 Support shaft 10 Electromagnet unit 10a Magnet casing 10b Coil 10c Yoke 10d Key 11 Holding ring 12 Holding ring 13 Sealing material 14 Sealing material 15 Sealed region 16 Magnetorheological fluid 17 DC power supply 18 Controller 19 Displacement / velocimeter 20 Accelerometer 21 Load Total 22 Control circuit 23 Damping target object 101 Damping device E Ground S Bearing member P Support member (Vibration target member)
Q Floor (Vibration control member)

Claims (3)

A casing fixed to one member to be controlled;
A ball screw supported in the casing so as to be rotatable about an axis and not movable in the axial direction;
A sleeve that is fixed to the other member that is the object of vibration control and is inserted into the casing so as to be movable back and forth in the axial direction and not rotatable about the shaft;
A ball nut fixed to the sleeve so as to be screwed into the ball screw and to convert the axial relative movement between the casing and the sleeve into a rotational movement of the ball screw;
A rotating shaft member made of a soft magnetic material fixed coaxially to the ball screw in the casing;
An electromagnet unit fixed in the casing so as to form a sealed region between the outer periphery of the rotating shaft member and forming a magnetic field across the sealed region with the rotating shaft member as a part of a magnetic circuit;
A damper comprising: a magnetorheological fluid enclosed in the hermetic region and imparting a viscous resistance to the rotating shaft member with a viscosity that is changed by application of a magnetic field;
A control circuit including a control device that adjusts a current from a DC power source supplied to the electromagnet unit to adjust a magnetic field intensity across the sealed region;
The control circuit is provided between the two vibration suppression target members, and is provided on one of the vibration suppression target members and a displacement meter and a speed meter that measure the displacement and the speed between them and send data to the control device. Measure the acceleration of the vibration suppression target member and send the data to the control device, and measure the load during vibration provided between the casing or sleeve and one of the vibration suppression target members. A load meter for sending data to the control device;
The control device receives each of the data, calculates the magnitude of the inertial mass necessary for damping, controls the DC power supply so as to output a current corresponding to the magnitude to the electromagnet unit, A variable inertia mass type vibration damping device characterized by adjusting an apparent mass. The control circuit uses a displacement meter and a speedometer provided between the two vibration control target members to measure a displacement between the two and a speed thereof, and to send data to the control device, and a displacement / speed detection step,
An acceleration detection step of measuring the acceleration of the vibration suppression target member with an accelerometer provided on one of the vibration suppression target members and sending data to the control device;
A load detection step of measuring a load at the time of vibration by a load meter provided between the casing or the sleeve and any one of the vibration suppression target members and sending data to the control device;
An inertial mass calculation step of calculating the magnitude of the inertial mass necessary for vibration suppression by the control device that has received the data,
A current adjustment step of controlling the DC power supply so as to output a current corresponding to the calculated inertial mass to the electromagnet unit;
Applying a magnetic field based on the current by the current electromagnet unit, applying a viscous resistance to the rotating shaft member by the viscosity of the magnetorheological fluid, and adjusting the apparent mass of the inertial mass. A vibration damping method using the variable inertial mass damping device according to claim 1.   In the current adjustment step, the maximum current is applied at the maximum displacement of the vibration, the current is reduced according to the displacement in the displacement decreasing process, and no current is applied in the displacement expanding process from near the displacement zero. The vibration damping method according to claim 2.

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