JP2017227978A - Control system, control method, and control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control system, a control method, and a control device that can reduce the number of sensors to be installed in a controlled object.SOLUTION: Provided is a control system that includes: a controlled object; an operation unit acting on the controlled object on the basis of an inputted control command; a disturbance detector detecting disturbance applied to the controlled object; and a control unit which includes a controller, and uses a first analysis model simulating the controlled object, and a second analysis model calculating an action applied by the operation unit to the controlled object in response to the control command by simulating the operation unit, and then inputs the disturbance detected by the disturbance detector and the action calculated according to the second analysis model to the first analysis model, in order to obtain a response of the controlled object using the first analysis model, and thereby determine a control command according to the obtained response by using the controller. In the control system, the control command determined by the control unit using the controller is inputted to the operation unit.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a control system, a control method, and a control apparatus.

  Patent Document 1 discloses an example of a vibration damping device. The vibration damping device disclosed in Patent Document 1 is provided on a structure by detecting a response of the structure, generating a drive signal based on the response, and driving an actuator in accordance with the drive signal. The weight is moved to suppress the vibration generated in the structure. In addition, this vibration damping device is provided with a filter that cuts a signal component corresponding to vibration of a higher-order mode with respect to a mode unique to the structure in the drive signal. In this vibration control device, a spillover is prevented by providing a filter to lower the gain in the high frequency region. Spillover is a phenomenon in which self-oscillation occurs in a higher-order resonance mode.

  Patent Document 2 discloses a configuration in which a feedback gain for controlling the additional mass of the vibration control device is changed according to the displacement of the additional mass.

JP-A-6-58013 JP-A-2-278030

  The vibration damping device described in Patent Document 1 detects physical displacement of a building using m sensors installed on a predetermined floor of the building, converts the detected physical displacement into mode displacement, and mode displacement The actuator is controlled according to the above. In this case, the minimum number of sensors m is determined by the range of the order of the natural mode to be controlled. That is, when the target range is up to the nth order mode, n or more sensors are required. When the number of sensors installed on a control target such as a building becomes large, there is a problem that the control system becomes complicated.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a control system, a control method, and a control device that can reduce the number of sensors installed in a control target.

  In order to solve the above problems, an aspect of the present invention includes a control target, an operation unit that operates on the control target based on an input control command, and a disturbance detection unit that detects a disturbance applied to the control target. And a first analysis model that has a controller and simulates the control object, and a second analysis model that simulates the operation part and calculates an effect of the operation part on the control object with respect to the control command. Then, the disturbance detected by the disturbance detection unit and the action calculated using the second analysis model are input to the first analysis model, and the response of the control target is input using the first analysis model. A control device that determines the control command by the controller according to the determined response, and the control device inputs the control command determined by the controller to the operation unit. That.

  One aspect of the present invention is the above-described control system, further comprising a response detection unit that detects a response of the control target when the disturbance is applied to the control target, and the disturbance detection unit detects the response A control target parameter estimation unit that obtains a dynamic characteristic of the control target based on a disturbance and a response of the control target detected by the response detection unit, and updates a parameter of the first analysis model based on the obtained dynamic characteristic The control device further includes:

  One aspect of the present invention is the control system, wherein the control target is a structure, the operation unit is a seismic control device installed in the structure, and the disturbance detection unit is the structure as the disturbance. Detects ground acceleration applied to objects.

  One aspect of the present invention is the above-described control system, which is an active mass damper in which the vibration control device is installed in the structure.

  One aspect of the present invention is the above-described control system, wherein the second controller that calculates a second control command to be input to the operation unit in response to the response vibration detected by the structure, the control command, The control device further includes an adder that adds a second control command to calculate a third control command, and the control device detects the disturbance detected by the disturbance detection unit and the second analysis model. Then, instead of the control command, the third control command is input, and the result of calculating the action of the operation unit on the control target with respect to the third control command is input to the first analysis model, A response of the controlled object is obtained using the first analysis model, the control command is determined by the controller according to the obtained response, and the controller calculates the adder instead of the control command. Before the third control command Input to the operation unit.

  One aspect of the present invention is the control system, wherein the third control command calculated by the adder is input, the third control command is adjusted according to the movement of the operation unit, and a fourth control command is set. The control device further includes a variable gain control unit that outputs the second disturbance as detected by the disturbance detection unit and the fourth analysis command instead of the third control command with respect to the second analysis model. A result of calculating the action of the operation unit on the control target in response to the fourth control command by inputting a control command is input to the first analysis model, and the control is performed using the first analysis model. The fourth control calculated by the variable gain control unit instead of the third control command is determined by determining the response of the target and determining the control command by the controller according to the determined response. Command the operation unit To enter.

  One aspect of the present invention is the control system described above, which is one analysis model in which the first analysis model and the second analysis model are integrated.

  One aspect of the present invention includes a control target, an operation unit that acts on the control target based on an input control command, a disturbance detection unit that detects a disturbance applied to the control target, and a controller. The disturbance detection unit uses a first analysis model that simulates the control target and a second analysis model that simulates the operation unit and calculates an action of the control unit on the control target with respect to the control command. The detected disturbance and the action calculated using the second analysis model are input to the first analysis model, the response of the control object is obtained using the first analysis model, and the obtained response And a control device that determines the control command by the controller according to the control method, and inputs the control command determined by the controller to the operation unit.

  One aspect of the present invention has a controller and simulates a first analysis model that simulates a control target, and an operation unit that operates on the control target based on the input control command. Using the second analysis model that calculates the effect of the operation unit on the control target, the disturbance calculated by the disturbance detection unit that detects the disturbance applied to the control target and the second analysis model Action is input to the first analysis model, the response of the controlled object is obtained using the first analysis model, and the control command is determined by the controller according to the obtained response. The control device outputs the control command to the operation unit.

  According to the present invention, a disturbance and a control command are input to the first analysis model and the second analysis model, a response to be controlled is obtained by calculation processing, and a control command is determined according to the obtained response. . Therefore, it is not necessary to install a plurality of sensors for the controlled object.

It is a block diagram which shows the structural example of 1st Embodiment of this invention. It is a block diagram which shows the structural example of 2nd Embodiment of this invention. It is a characteristic view for demonstrating 2nd Embodiment of this invention. It is a block diagram which shows the structural example of 3rd Embodiment of this invention. FIG. 5 is a perspective view illustrating a configuration example of an active mass damper 3 illustrated in FIG. 4. It is a flowchart which shows the operation example of the control system 100b shown in FIG. It is a block diagram which shows the structural example of 4th Embodiment of this invention. It is a block diagram which shows the structural example of 5th Embodiment of this invention. It is a block diagram which shows the structural example of 6th Embodiment of this invention.

  Embodiments according to the present invention will be described below with reference to the drawings.

<First Embodiment>
FIG. 1 is a block diagram showing a configuration example of a first embodiment of a control system according to the present invention. A control system 100 illustrated in FIG. 1A includes a building 1, a ground motion sensor 4, and a control device 5.

  FIG. 1A schematically shows the structure of the building 1. A building 1 shown in FIG. 1A is a four-story building constructed on the ground 2, and the pillars 11, 13, 15, and 17 on the first to fourth floors, and the pillar 11 and the pillars. From the floor (or beam) 12 between 13, the floor 14 between the pillars 13 and 15, the floor 16 between the pillars 15 and 17, and the roof (rooftop slab) 18. It is configured. In addition, the building 1 includes an actuator 31 between the floor 12 and the floor 14, and includes an actuator 32 between the floor 14 and the floor 16.

  The actuator 31 and the actuator 32 are active or semi-active seismic control devices, and operate according to the control command 52 output from the control device 5 to control the vibration of the building 1. Here, the active vibration control device is a device that applies a predetermined force for suppressing vibration to the building 1 according to the control command 52. As shown in FIG. 1B, for example, the active vibration control device is configured by providing brackets 71 and 72 for supporting from the upper floor and the lower floor, and providing an actuator 73 by a hydraulic cylinder between them. The active vibration control device shown in FIG. 1B pushes and pulls the actuator 73 in accordance with a control command, and applies an active force to the upper and lower floors of the building. On the other hand, a semi-active seismic control device does not generate force directly like an active seismic control device, but dynamically changes coefficients such as building rigidity and damping based on control commands. . For example, as shown in FIG. 1 (c), the semi-active vibration control device is configured by providing brackets 71 and 72 similar to those in FIG. 1 (b) and installing a variable damping oil damper 74 therebetween. The variable damping oil damper 74 generates a passive damping force according to the interlayer deformation of the building. However, since the damping coefficient is changed according to the control command, a semi-active control force (damping force) is applied. In the example shown in FIG. 1A, the actuator 31 acts on the floor 12 and the floor 14, and the actuator 32 acts on the floor 14 and the floor 16. However, the number of actuators 31 and 32 is not limited to two, and may be one or three or more, and the installation position is not limited.

  The ground motion sensor 4 is an acceleration sensor that detects ground motion acceleration generated on the ground 2, and outputs a signal 41 representing the detected ground motion acceleration (hereinafter, this signal is referred to as the ground motion acceleration 41) to the control device 5. . However, the ground motion sensor 4 may output a result of detecting the speed or displacement of the ground 2 in unit time in addition to (or instead of) the acceleration.

  The control device 5 is a computer such as a personal computer, a microcomputer, or a microprocessor, and includes a CPU (Central Processing Unit), volatile and nonvolatile storage devices, an input / output interface, and the like. The control device 5 functions as the controller 51 and the like by executing a predetermined program by the CPU, inputs the ground motion acceleration 41, calculates and outputs a control command 52 for controlling the actuators 31 and 32.

  The control device 5 uses a building analysis model 53 that simulates the building 1 and an actuator analysis model 55 that simulates the actuators 31 and 32 when calculating the control command 52 by the controller 51. The actuator analysis model 55 is a mathematical model that simulates the dynamic characteristics of the actuators 31 and 32. The actuator analysis model 55 is composed of a differential equation or the like, and repeatedly inputs the value of the control command 52 at a predetermined cycle and performs numerical integration. The generated force 56 of the actuators 31 and 32 acting on the building 1 is sequentially calculated and output. The input to the actuator analysis model 55 or the building analysis model 53 means setting a numerical value to a predetermined variable of the equation, and the output from the actuator analysis model 55 or the building analysis model 53 means the solution of the equation. Is calculated. Further, the control device 5 can calculate the time from the input to the output of the actuator analysis model 55 and the building analysis model 53 and the time for calculating the control command 52 in a shorter time than the sampling period. That is, the control device 5 can perform the calculation process using the actuator analysis model 55 and the building analysis model 53 and the calculation process of the control command 52 in real time. In FIG. 1A, the number of actuator analysis models 55 is one in the drawing, but generally the same number as the number of actuators. Similarly, the number of control commands 52 is the same as the number of actuators.

  The building analysis model 53 is a mathematical model that simulates the dynamic characteristics of the building 1 and is composed of differential equations such as equations of motion. A plurality of parameters such as natural frequency and damping ratio are experimentally or numerically analyzed. It is set to 1. The building analysis model 53 can be constituted by, for example, a four mass point model, and has four mass points 532 to 535 corresponding to the floors 12, 14 and 16 and the roof 18. In this case, the generated force 56 of the actuators 31 and 32 calculated using the actuator analysis model 55 is input to the mass points 531 to 534. The ground acceleration 41 is input to the ground 531 of the four mass point model. The building analysis model 53 repeatedly inputs each value of the ground motion acceleration 41 and the generated force 56 continuously at a predetermined cycle, and sequentially calculates and outputs the response of the building 1 (building response 54) by numerical integration. The building response 54 represents values such as displacement, speed, acceleration, etc. of the respective mass points 532-535. In the building analysis model 53, the order of the eigenmode is not limited, and the order range can be selected as appropriate according to, for example, the ability of the computer.

  The controller 51 determines a control command 52 to be output to the actuators 31 and 32 and the actuator analysis model 55 according to the building response 54. The method of determining the control command 52 is not limited, and the control command 52 is determined so that the building response 54 generally suppresses the movement, or suppresses the movement of the mass point having the maximum displacement, speed, acceleration, and the like. Can do.

  In the control system 100 having the above configuration, the control device 5 inputs the control command 52 to the actuator analysis model 55 and calculates the generated force 56. Next, the control device 5 takes in the ground motion acceleration 41 output from the ground motion sensor 4. Next, the control device 5 inputs the generated force 56 calculated using the actuator analysis model 55 and the captured ground motion acceleration 41 to the building analysis model 53 to calculate the building response 54. Next, the control device 5 inputs the building response 54 calculated using the building analysis model 53 to the controller 51 and determines the control command 52. The control command 52 determined by the controller 51 is input to the actuator analysis model 55 and to the actuators 31 and 32. The actuators 31 and 32 reduce the response of the actual building 1 based on the control command 52. The above process is repeatedly executed.

  In the control system 100 shown in FIG. 1, it is not necessary to install a plurality of sensors in the building 1, and the vibration control of the building 1 can be executed only by the ground motion sensor 4 installed on the ground 2 of the building 1. Therefore, the configuration of the control system can be simplified. Further, even when a plurality of sensors are not installed in the building 1, it is possible to analyze and control a multi-order eigenmode. In addition, since the feedforward control that does not feed back the response of the actual building 1 is applied, even when strong control with a high damping effect is applied, the higher-order mode oscillation phenomenon (spillover) does not occur. In addition, an unstable phenomenon due to electrical noise of the sensor that detects the response does not occur.

Second Embodiment
FIG. 2 is a block diagram showing a configuration example of the second embodiment of the control system according to the present invention. A control system 100a illustrated in FIG. 2 includes a building 1, a ground motion sensor 4, a control device 5a, and a building response sensor 61 (response detection unit). In FIG. 2, the same reference numerals are used for the same components as those in FIG. 1, and the corresponding components are used by adding alphabetic characters (such as “a”) to the reference numerals. Hereinafter, descriptions of the same or corresponding configurations as those of other embodiments already described will be omitted as appropriate.

  The building response sensor 61 is a sensor that detects a response of the building 1 when a disturbance such as earthquake motion is applied to the building 1 and outputs a building response 62 indicating the detection result. The building response sensor 61 is, for example, an acceleration sensor. The building response sensor 61 is installed near the top of the building 1, for example.

  The control device 5a differs from the control device 5 shown in FIG. In other words, the control device 5a newly includes a building parameter estimation unit 57 (control target parameter estimation unit). The building parameter estimation unit 57 inputs the building response 62 output from the building response sensor 61 and the ground motion acceleration 41 output from the ground motion sensor 4, and the building analysis model 53 uses the parameters 58 of the building 1 estimated based on them. Output for. The building parameter estimation unit 57 inputs the ground motion acceleration 41 which is a disturbance to the building 1 output from the ground motion sensor 4 and the building response 62 detected by the building response sensor 61 simultaneously (or with a short time difference). Based on these, the dynamic characteristics of the building 1 are obtained, and the parameters of the building analysis model 53 are updated based on the obtained dynamic characteristics. The building parameter estimation unit 57 acquires the dynamic characteristics of the building 1 by measuring the transfer function of the building 1 using the ground acceleration 41 as an input signal and the building response 62 as an output signal. The building parameter estimation unit 57 measures, for example, the frequency characteristics of the gain and phase difference between input and output signals as shown in FIG. 3 using an FFT (Fast Fourier Transform) algorithm. FIG. 3 is a diagram illustrating an example of the dynamic characteristics of the building 1. For example, the peak frequencies in the gain are the natural frequencies of the first, second, and third modes in order from the bottom. Also, the height of the mountain is related to the damping ratio. For example, the building parameter estimation unit 57 updates the value of the parameter when the newly acquired natural frequency has changed beyond a certain range from the parameter set in the building analysis model 53.

  In addition to the effects produced by the control system 100 shown in FIG. 1, in the control system 100a shown in FIG. 2, for example, one building response sensor 61 is installed in the building 1 so that an earthquake of a certain scale occurs, for example. The parameters of the building analysis model 53 can be updated.

<Third Embodiment>
FIG. 4 is a block diagram showing a configuration example of the third embodiment of the control system according to the present invention. A control system 100b shown in FIG. 4 includes a building 1a, an active mass damper 3, a ground motion sensor 4, and a control device 5b. In the control system 100b shown in FIG. 4, instead of the actuators 31 and 32 shown in FIG. 1 in the vicinity of the top of the building 1a, an active mass damper 3 that is a corresponding vibration control device is installed.

  The active mass damper 3 causes the weight 33 to vibrate in the X direction and the Y direction by the motors 34 and 35 and the ball screws 36 and 37 as shown in FIG. 5, for example, in accordance with the control command 52a output from the control device 5b. It is a device that suppresses the vibration of the building 1a. The control command 52a is, for example, a signal that represents a speed command for two systems of motors for each system. In the example of FIG. 5, an XY two-way type is used, but there is a case of a one-way type. Multiple active mass dampers may be installed.

  The control device 5b includes a controller (1) 51a, a building analysis model 53a, and an active mass damper analysis model 55a. The controller (1) 51a has the same configuration as the controller 51 shown in FIG. 1, determines a control command 52a according to the building response 54a output from the building analysis model 53a, and the active mass damper 3 and the active mass damper. Output to the analysis model 55a. In the present embodiment, the active mass damper analysis model 55a and the building analysis model 53a are integrally configured. The building analysis model 53a and the active mass damper analysis model 55a correspond to the building analysis model 53 and the actuator analysis model 55 shown in FIG. The control command 52a and the building response 54a correspond to the control command 52 and the building response 54 shown in FIG. In this way, it is possible to obtain a single analysis model in which the building analysis model 53a (first analysis model) and the active mass damper analysis model 55a (second analysis model) are integrated.

  Next, an operation example of the control system 100b shown in FIG. 4 will be described with reference to FIG. In the control system 100b, the control device 5b inputs the control command 52a to the active mass damper analysis model 55a and calculates the active mass damper inertia force (step S1). Next, the control device 5b takes in the ground motion acceleration 41 (step S2). Next, the control device 5b inputs the ground motion acceleration 41 and the inertial force of the active mass damper to the building analysis model 53a, and calculates the building response 54a (step S3). Next, the control device 5b inputs the building response 54a to the controller (1) 51a, and calculates a control command 52a (step S4). Next, the control device 5b inputs a control command 52a to the actual active mass damper 3, and controls the response of the actual building 1a (step S5). Thereafter, the control device 5b repeatedly executes steps S1 to S5.

  According to this embodiment, the following effects can be obtained. That is, conventionally, vibration control is performed by feedback control using information from a vibration sensor installed in a building. If the control target mode is applied up to the higher-order mode, a plurality of sensors are required, and the controller is complicated. Therefore, it is common to control the primary mode with one sensor at the top. ing. For this reason, when strong control with a high vibration control effect is applied to the primary mode, there is a concern about the oscillation phenomenon (spillover) in the high-order mode. On the other hand, in this embodiment, although it is a simple system using only a ground motion sensor installed on the first floor, high-order mode control is possible, and feed-forward control prevents unstable phenomena such as spillover. .

  That is, in the control system 100b shown in FIG. 4, it is not necessary to install a plurality of sensors in the building 1a, and the vibration control of the building 1a can be executed only by the ground motion sensor 4 installed on the ground 2 of the building 1a. Therefore, the configuration of the control system can be simplified. Even when a plurality of sensors are not installed in the building 1a, the multi-order eigenmode can be controlled by using an analysis model that takes into account the multi-order eigenmode. Further, since the actual response of the building 1a is not fed back, no oscillation phenomenon occurs.

<Fourth embodiment>
FIG. 7 is a block diagram showing a configuration example of the fourth embodiment of the control system according to the present invention. A control system 100c shown in FIG. 7 includes a building 1a, an active mass damper 3, a ground motion sensor 4, a control device 5c, and a building response sensor 61.

  The control device 5c differs from the control device 5b shown in FIG. 4 in the following points. That is, the control device 5c newly includes a controller (2) 501 (second controller) and an adder 503. The controller (2) 501 is activated in the same manner as the controller (1) 51a (first controller) according to the building response 62 (response vibration) detected near the top of the building by the building response sensor 61. A second control command 502 input to the mass damper 3 is calculated. The adder 503 adds the control command 52a and the second control command 502 to calculate the third control command 52b.

  Further, the control device 5c inputs the third control command 52b instead of the control command 52a to the active mass damper analysis model 55a, and calculates the action of the active mass damper 3 on the building 1a with respect to the third control command 52b. The result and the ground motion acceleration 41 detected by the ground motion sensor 4 are input to the building analysis model 53a, the response of the building 1a is obtained using the building analysis model 53a, and the control command 52a is determined according to the obtained response. To do. Then, the control device 5 c outputs the third control command 52 b calculated by the adder 503 to the active mass damper 3 instead of the control command 52 a.

  According to this embodiment, the following effects can be obtained. That is, the control of only the controller (1) 51a as in the third embodiment cannot perform the vibration control for the wind fluctuation. On the other hand, as in the present embodiment, by adding the controller (2) 501, it is possible to control the vibration control against wind fluctuation. In this case, the effect of the control on the ground motion by the controller (1) 51a may interfere with the controller (2) 501, and the effect is somewhat worsened. However, the signal after the addition by the adder 503 (third The influence can be eliminated by inputting the control command 52b) to the analysis model.

<Fifth Embodiment>
FIG. 8 is a block diagram showing a configuration example of the fifth embodiment of the control system according to the present invention. A control system 100d shown in FIG. 8 includes a building 1a, an active mass damper 3, a ground motion sensor 4, a control device 5d, and a building response sensor 61.

  The control device 5d is different from the control device 5c shown in FIG. That is, the control device 5d includes a variable gain control unit 504. The variable gain control unit 504 receives the third control command 52 b calculated by the adder 503, adjusts the third control command 52 b according to the movement of the active mass damper 3, and outputs it as the fourth control command 52 c. The adjustment of the control command by the variable gain control unit 504 can use a known method described in Patent Document 2, for example.

  The control device 5d inputs the fourth control command 52c instead of the third control command 52b to the ground motion acceleration 41 detected by the ground motion sensor 4 and the active mass damper analysis model 55a, and the building 1a corresponding to the fourth control command 52c. The result of calculating the action of the active mass damper 3 on the elephant is input to the building analysis model 53a. And the building response 54a is calculated | required using the building analysis model 53a, and the control command 52a is determined according to the calculated | required building response 54a. Further, the control device 5d inputs the fourth control command 52c calculated by the variable gain control unit 504 to the active mass damper 3 instead of the third control command 52b.

  According to this embodiment, the strength of control can be adjusted according to the movement of the active mass damper 3. That is, the building response 54a by the building analysis model 53a can be accurately obtained by inputting a signal to which the variable gain control is applied to each analysis model.

<Sixth Embodiment>
FIG. 9 is a block diagram showing a configuration example of the sixth embodiment of the control system according to the present invention. A control system 100e shown in FIG. 9 is an embodiment having a basic configuration such as the control system 100 of the first embodiment shown in FIG. 1, the control system 100b of the third embodiment shown in FIG. A control system 100e illustrated in FIG. 9 includes a control object 1e, an operation unit 3e, a disturbance detection unit 4e, and a control device 5e.

  The control target 1e is a control target, and is the building 1 in the control system 100 of the first embodiment shown in FIG. 1, and the building 1a in the control system 100b of the third embodiment shown in FIG. However, the control target 1e is not limited to a building but may be another structure, or may be an intangible object without being limited to a tangible object.

  The operation unit 3e is a component that acts on the control target 1e in accordance with the control command 52e output from the control device 5e. The operation unit 3e is the actuators 31 and 32 in the control system 100 of the first embodiment shown in FIG. 1, and the active mass damper 3 in the control system 100b of the third embodiment shown in FIG. As another example, for example, if the control object 1e is a furnace in a temperature control system, it is a fuel control valve, and if the control object 1e is a load shaft in a servo mechanism, for example, it is a servo motor. .

  The disturbance detection unit 4e is a sensor that detects a disturbance that is an external factor that attempts to disturb the state of the control system. In the example shown in FIG. 9, disturbance is applied to the control target 1e, but it may be applied to elements other than the control target 1e. In the control system 100 of the first embodiment shown in FIG. 1 and the control system 100 b of the third embodiment shown in FIG. 4, the disturbance is the ground motion acceleration 41, and the disturbance detection unit 4 e is the ground motion sensor 4. The detection output 41e of the disturbance detection unit 4e is a ground acceleration 41. As another example, when the controlled object 1e is a temperature control system furnace, the disturbance is an outside furnace temperature or the like, and the disturbance detection unit 4e is a sensor or the like of the outside furnace temperature. Alternatively, when the control object 1e is a load shaft in the servo mechanism, the disturbance is a load fluctuation or a power source fluctuation, and the disturbance detection unit 4e is a load torque sensor, a power source voltage sensor, or the like.

  The control device 5e includes a controller 51e (first controller), a first analysis model 53e, and a second analysis model 55e. The first analysis model 53e is a mathematical model of the control target 1e, and the second analysis model 55e is a mathematical model of the operation unit 3e. The first analysis model 53e simulates the control target 1e, inputs the detection output 41e from the disturbance detection unit 4e, inputs the simulation action 56e from the second analysis model 55e, calculates the response of the control target 1e, Output as simulated response 54e. The second analysis model 55e simulates the operation unit 3e, calculates the action of the operation unit 3e on the control target 1e with respect to the control command 52e, and outputs the calculated action 56e to the first analysis model 53e. The controller 51e determines a control command 52e according to the simulated response 54e output from the first analysis model 53e, and outputs it to the operation unit 3e and the second analysis model 55e. That is, the control device 5e uses the first analysis model 53e and the second analysis model 55e to simulate the operation 56e calculated using the detection output 41e representing the disturbance detected by the disturbance detection unit 4e and the second analysis model 55e. Are input to the first analysis model 53e, the simulated response 54e of the controlled object 1e is obtained using the first analysis model 53e, and the control command 52e is determined by the controller 51e according to the obtained simulated response 54e. The “simulation” in the simulated action 56e and the simulated response 54e is for distinguishing the actual action on the controlled object 1e by the operation unit 3e and the actual response of the controlled object 1e from the values calculated by the respective analysis models. It is the added wording.

  The controller 51e is the controller 51 in the control system 100 of the first embodiment shown in FIG. 1, and the controller (1) 51a in the control system 100b of the third embodiment shown in FIG. The first analysis model 53e is the building analysis model 53 shown in FIG. 1 or the building analysis model 53a shown in FIG. The second analysis model 55e is the actuator analysis model 55 shown in FIG. 1, or the active mass damper analysis model 55a shown in FIG.

  In the present embodiment, the control device 5e inputs the control command 52e output from the controller 51e to the second analysis model 55e and calculates the simulated action 56e. Next, the control device 5e calculates the simulated response 54e by inputting the detection output 41e of the disturbance detection unit 4e and the simulated action 56e output from the second analysis model 55e to the first analysis model 53e. Next, the control device 5e inputs the simulated response 54e output from the first analysis model 53e to the controller 51e, and determines the control command 52e by the controller 51e. The control device 5e inputs the control command 52e output from the controller 51e to the operation unit 3e and inputs it to the second analysis model 55e. Thereafter, the control device 5e repeatedly executes the above operation.

  According to this embodiment, the detection output 41e representing the disturbance and the control command 52e are input to the first analysis model 53e and the second analysis model 55e, and the simulated response 54e of the controlled object 1e is obtained by calculation processing. The control command 52e is determined according to the simulated response 54e. Therefore, it is not necessary to install a plurality of sensors for detecting an actual response for the control target 1e.

  The embodiment of the present invention is not limited to the above. For example, the building parameter estimation unit 57 of the second embodiment is added to the third to fifth embodiments, the number of actuators 31 and 32 is increased or decreased, or the active mass damper 3 is changed. A plurality of active mass dampers 3 that operate in the same direction can be provided.

100, 100a to 100e Control system 1, 1a Building (structure; controlled object)
1e Control target 2 Ground 3 Active mass damper (seismic control device; operation unit)
3e Operation part 31, 32 Actuator (Vibration control device; Operation part)
4 Ground motion sensor (disturbance detection unit)
4e Disturbance detection unit 5, 5a to 5e Controller 51, 51e Controller 51a Controller (1)
501 Controller (2)
503 Adder 504 Variable gain control unit 53, 53a Building analysis model (first analysis model)
53e First analysis model 55 Actuator analysis model (second analysis model)
55a Active mass damper analysis model (2nd analysis model)
55e Second analysis model 57 Building parameter estimation unit (control target parameter estimation unit)
61 Building response sensor (response detector)

Claims (9)

Control object,
An operation unit that acts on the control object based on the input control command;
A disturbance detection unit for detecting disturbance applied to the control object;
Using a first analysis model that has a controller and simulates the control object, and a second analysis model that simulates the operation part and calculates an effect of the operation part on the control object with respect to the control command The disturbance detected by the disturbance detection unit and the action calculated using the second analysis model are input to the first analysis model, and the response of the control target is input using the first analysis model. And a control device that determines the control command by the controller according to the obtained response.
A control system for inputting the control command determined by the controller by the controller to the operation unit. A response detector for detecting a response of the control object when the disturbance is applied to the control object;
The dynamic characteristic of the controlled object is obtained based on the disturbance detected by the disturbance detecting part and the response of the controlled object detected by the response detecting part, and the parameters of the first analysis model are obtained based on the obtained dynamic characteristic. The control system according to claim 1, wherein the control device further includes a control target parameter estimation unit that updates the control target parameter. The control object is a structure;
The operation unit is a vibration control device installed in the structure,
The control system according to claim 1, wherein the disturbance detection unit detects ground motion acceleration applied to the structure as the disturbance. The control system according to claim 3, wherein the vibration control device is an active mass damper installed in the structure. A second controller that calculates a second control command to be input to the operation unit according to response vibration detected by the structure;
The control device further comprises an adder that calculates a third control command by adding the control command and the second control command,
The control device inputs the third control command instead of the control command to the disturbance detected by the disturbance detection unit and the second analysis model, and applies the third control command to the control target. The result of calculating the action by the operation unit is input to the first analysis model, the response of the control target is obtained using the first analysis model, and the controller performs the response according to the obtained response. Determine the control command,
The control system according to claim 4, wherein the control device inputs the third control command calculated by the adder to the operation unit instead of the control command. The control device further includes a variable gain control unit that inputs the third control command calculated by the adder, adjusts the third control command according to the movement of the operation unit, and outputs the third control command as a fourth control command. ,
The control device inputs the fourth control command instead of the third control command to the disturbance detected by the disturbance detection unit and the second analysis model, and the control target for the fourth control command The calculation result of the operation by the operation unit is input to the first analysis model, the response of the control target is obtained using the first analysis model, and the control is performed according to the obtained response. The control command is determined by a device,
The control system according to claim 5, wherein the control device inputs the fourth control command calculated by the variable gain control unit to the operation unit instead of the third control command. The control system according to any one of claims 1 to 6, wherein the first analysis model and the second analysis model are integrated into one analysis model. Control object,
An operation unit that acts on the control object based on the input control command;
A disturbance detection unit for detecting disturbance applied to the control object;
Using a first analysis model that has a controller and simulates the control object, and a second analysis model that simulates the operation part and calculates an effect of the operation part on the control object with respect to the control command The disturbance detected by the disturbance detection unit and the action calculated using the second analysis model are input to the first analysis model, and the response of the control target is input using the first analysis model. Using the control device to determine the control command by the controller according to the obtained response
A control method for inputting the control command determined by the controller to the operation unit. Having a controller,
A first analysis model that simulates a control target, and an operation unit that acts on the control target based on an input control command, and calculates an action by the operation unit on the control target with respect to the control command. Using two analysis models,
The disturbance detected by a disturbance detecting unit that detects a disturbance applied to the control target and the action calculated using the second analysis model are input to the first analysis model,
Using the first analysis model to determine the response of the controlled object;
The control command is determined by the controller according to the obtained response,
A control device that outputs the determined control command to the operation unit.

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