JP2614859B2 - Control method of vibration suppression device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a control method of a structure vibration damping device, and more particularly, to a structure of a higher-rise structure which prevents a structure from shaking due to an earthquake or wind. The present invention relates to a method for controlling a vibration damping device installed on a structure in order to enable construction of a vehicle and to realize comfortable living with less shaking.

(Conventional technology) In general, structures such as buildings and steel towers generally have only a small damping element, and the structures resonate under dynamic disturbances such as wind and earthquake, and low-frequency vibration is likely to occur. Has become. Especially in middle and high-rise buildings, there is a problem of livability due to vibrations caused by winds, earthquakes and the like.

In order to suppress the above-mentioned vibration of the structure, a control device which adds a damping element to the structure and lowers the response magnification at the time of resonance is described in the fourth embodiment.
Shown in the figure.

An additional mass 2 that can move linearly is installed on the upper part of the structure 1, and the additional mass 2 is moved by an actuator 3 fixed to the structure 1. Additional mass 2 and actuator 3
A support spring 4 exists between the two and maintains the neutral position of the additional mass 2.

When an external force is applied to the structure 1, the acceleration of the structure is detected by the vibration sensor 5 installed near the structure 1, and is input to the controller z. The additional mass velocity detected by a sensor installed above the structure 1 is also input to the controller z. In the controller z, the speed of the structure is determined by the integrator 1 / s from the acceleration of the structure, the deviation of the speed of the additional mass and the speed of the additional mass is obtained, this signal is amplified by the power amplifier a, and output as the actuator current, Exercise 2 That is, the actuator 3 or the additional mass 2 is moved in accordance with the amount of vibration of the structure 1 which resonates under the external force, and the reaction force of the additional mass 2 at this time cancels the external force of the structure 1 to reduce the vibration. Suppress.

(Problems to be Solved by the Invention) In the above-described vibration damping device, a vibration sensor 5 is installed near the top floor of a structure, and the vibration of the top floor is detected from this signal, and the vibration sensor 5 is added so as to suppress the vibration. The operation of the cell 2 was performed.

However, in addition to the primary vibration mode shown in FIG. 5 (a) with the height of the structure taken as the vertical axis, the vibration of the structure has a second order as shown in FIGS. 5 (b), (c) and (d). Tertiary, quaternary,
・ ・ Higher order vibration modes exist.

Therefore, when the swing of the top floor of the structure is stopped by the operation of the additional mass 2, the vibration in the first mode is eliminated, but the vibration in the middle portion of the structure 1 remains due to the vibration in the higher order mode.

The present invention has been made in view of the problems of the above conventional example,
It is an object of the present invention to provide a control method of a vibration damping device capable of eliminating not only vibration in a primary vibration mode of a structure but also vibration caused by a higher-order vibration mode.

(Means for Solving the Problems) In order to achieve the above object, a control method of a vibration damping device according to the present invention provides an additional mass which can be interlocked in the vibration direction near the top of a structure, and moves the additional mass. A vibration sensor is installed in the vicinity of the top of the structure and in the middle of the structure, and a control input calculated based on signals from these vibration sensors is given to the control means. By performing the operation of the additional mass, the vibration at the uppermost portion and the intermediate portion of the structure is reduced.

(Operation) According to the method of the present invention, when the structure vibrates, each of the vibration sensors installed near the uppermost portion and the intermediate portion of the structure detects the vibration state. Then, since the operation of the additional mass is performed by the control input calculated from these signals, not only the swing at the uppermost portion of the structure is controlled, but also the swing generated in the entire structure is effectively eliminated.

(Example) An example of the present invention will be described with reference to the drawings.

FIG. 2 shows a side view of the vibration damping device installed above the structure, and FIG. 3 shows a plan view thereof.

A rectangular parallelepiped additional mass 2 is placed at the top of the structure 1.
A cylinder 6 is mounted on the peripheral surface of the additional mass 2, and one end of a rod shaft 7 of the cylinder 6 is connected to a wall 8 erected on the structure 1 so as to surround the additional mass 2. A hydraulic unit 9 for supplying oil to the cylinder 6 is installed at the center of the additional mass 2. Wheel 10 is attached to the bottom of additional mass 2,
The additional mass 2 can freely move on a horizontal plane surrounded by the wall 8 depending on the way of supplying oil to the four cylinders. The horizontal plane surrounded by the wall 8 reduces the frictional force and makes the wheel 10 easy to move.

 FIG. 1 shows a model diagram of an embodiment of the present invention.

An additional mass movable by the cylinder 6 is mounted on the upper part of the structure 1. In FIG. 1, the additional cell 2 is 1 for simplicity.
It moved by the cylinder of the book.

Vibration sensors at the top and middle of structure 1 respectively
Install 11 and 11. The vibration sensor 11 detects a displacement and a speed of the structure, which are amounts related to the vibration of the structure. The vibration sensor 11 may be composed of respective sensors for detecting the displacement and the speed, or the speed may be obtained from the sensor for detecting the displacement and the signal via a differentiator. Alternatively, a displacement may be obtained from a sensor for detecting the speed and the signal via an integrator.

The top displacement x _{1 of} the structure, the top speed of the structure as state quantities indicating the state of vibration of the structure 1 from the vibration sensors 11 and 11
_{1. A} structure intermediate portion x ₂ and a structure intermediate portion speed ₂ are detected.

The additional mass 2 is provided with an additional mass sensor 12 for detecting a state quantity of the additional mass 2, and detects a displacement xm and a velocity m of the additional mass 2 from the sensor 12.

The signals from the vibration sensors 11, 11 and the additional mass sensor 12 are
It is input to a controller z including a state variable setting unit w and a calculation unit y. In the state variable setting unit w, the relative displacement xm ′ (xm−x ₁ ) of the structure 1 and the additional mass 2 from the displacement x ₁ of the uppermost structure and the displacement xm of the additional mass 2, From the speed ₁ and the speed m of the additional mass 2, a relative speed m '(m- ₁₎ between the structure 1 and the additional mass 2 is obtained.

These signals are input to the operation unit y, and x ₁ , x ₂ , xm ′,
Optimal feedback vector predetermined for ₁ , ₂ , m ' Of _{f 1, f 2, f 3} , f 4, f 5, multiplied by f _6, respectively, each value added, the control input _{i = f 1 x 1 + f} 2 x 2 + f 3 xm '+ f 4 1 +
obtain _{f 5 2 + f 6 m '} .

The variables related to the vibration of the structure 1 stopped from the vibration sensors 11 and 11 and the additional mass sensor 12 are state variable vectors. And the output vector And the evaluation function J Then the optimal feedback vector Is designed to minimize the quadratic evaluation function J, Given by

here Satisfy the Riccati matrix equation of

r is the weight of the control input i, which prevents the input power from reaching an unrealizable solution that is infinite.

Is a weight matrix for the state variables. By taking large weights corresponding to the state variables to be controlled with high accuracy, it is possible to design optimal feedback vectors having different damping effects.

Is a matrix obtained from characteristics such as the mass, the spring constant, and the damping constant of the structure 1 and the additional mass 2.

A control input i output from the controller z is configured to energize a solenoid 15 that slides a spool 14 of the servo valve 13. Of the three ports provided on the hydraulic pressure supply side of the servo valve 13, the central port 16 communicates with the pump P (not shown), and the left and right ports 17, 18 are connected to the tank T, respectively.
(Not shown). The two ports 19 and 20 provided in the servo valve 13 communicate with the chamber of the cylinder 6 respectively.

Assuming that the structure 1 starts to sway rightward in FIG. 1 under the external force of wind or earthquake, the swaying state is determined by the vibration sensors 11, 11,
The signal is detected by the additional mass sensor 12, and this signal is input to the controller z to calculate the control input i.

The control input i is supplied to the solenoid 15 to slide the spool 14 of the servo valve 13 rightward in FIG. Spool 14
Slides to the right, the port 17 is closed, the oil from the pump P flows to the port 16, port 20, the left cylinder chamber, and moves the piston in the cylinder 6 to the right. Tank T via ports 19 and 18
It is led to.

As a result, the rod 7 of the cylinder 6 slides and the additional mass 2
Is moved to the right side, which is the same side, behind the movement of the structure 1.

When the structure 1 swings to the left, the sign of the control input i is reversed, the spool 14 of the servo valve 13 slides in the opposite direction, and the moving direction of the additional mass 2 is also reversed. Therefore, the vibration of the structure 1 is reduced by applying a control force in the direction opposite to the external force to the structure by the reaction force generated by moving the additional mass 2.

In the above embodiment, the state variable vector Is the displacement x _{1 at} the top of the structure ₁ , the displacement x _{2 at} the middle of the structure 1, the relative displacement xm between the structure 1 and the additional mass 2, the velocity ₁ at the top of the structure 1, Although the intermediate speed ₂ is represented by the relative speed m 'between the structure 1 and the additional mass 2, other variables related to vibration and variables related to control of the hydraulic cylinder may be considered as state quantities.

That is, when the influence of the displacement xm of the additional mass 2, the speed m of the additional mass 2, and the compressibility of oil between the cylinders cannot be ignored, the pressure p ₁ p ₂ of each cylinder chamber is used as a state quantity, and a state variable vector To It may be expressed as follows.

(Effects of the Invention) The present invention calculates not only the state quantity relating to the vibration of the top floor of the structure but also the state quantity of the middle part to calculate the control input for operating the additional mass, so that the top part and the middle part are calculated. The vibration of the part can be stopped, and the whole structure can be quickly and effectively damped.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view showing an embodiment of the present invention, FIG. 2 is a side view of a vibration damping device using the method of the present invention, FIG. FIG. 4 is a model diagram of a conventional vibration damping device, and FIG. 5 is an explanatory diagram showing a vibration mode of a structure. 1 ... structure, 2 ... additional mass 11 ... vibration sensor, 12 ... additional mass sensor z ... controller

Claims (1)

(57) [Claims] 1. A vibration damping device having an additional mass movable in the vibration direction in the vicinity of an uppermost portion of a structure and a control means for moving the additional mass. Are provided at the uppermost and intermediate portions of the structure by applying control inputs calculated based on signals from these vibration sensors to the control means to operate the additional mass. A method for controlling a vibration damping device, characterized by reducing vibration.