JP2723738B2 - Vibration control device for structures - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration control device for structures such as high-rise buildings and towers, and more particularly to a vibration control device capable of simultaneously reducing horizontal vibration and torsional vibration using a gyro mechanism.

[0002]

2. Description of the Related Art As a device for controlling vibration generated by an external force such as a wind or an earthquake acting on a structure, a gyro mechanism described in, for example, Japanese Patent Application Laid-Open No. 3-81476 is known. 2. Description of the Related Art A structural vibration control device using the principle is known. In this apparatus, a frame supports a rotating shaft of a rotating body that rotates at a high speed at a fixed speed, and the supporting shaft is supported by an axis in a direction perpendicular to and horizontal to the rotating axis of the rotating body. A gyro device for vibration suppression is used which is rotatably supported by a structure via a support base.

In this vibration control apparatus, for example, when controlling horizontal vibration of a structure, the vibration gyro apparatus is constructed in a state where the rotating body is previously rotated at a high speed in a horizontal plane (a position where the inclination angle is zero). When the direction of the support shaft is set to the X axis and the external force input from the X axis direction causes a rotational deformation of the structure and the rotating body at a predetermined angular velocity, a direction orthogonal to the angular velocity vector is obtained. That is, a predetermined moment is generated in the Y-axis direction (around the X-axis). Due to this moment, a rotational motion (precession motion) of a predetermined angular velocity is generated around the X axis, that is, around the support axis with respect to the rotating body,
In the direction orthogonal to the angular velocity, that is, around the Y axis, a vibration damping moment proportional to the angular velocity is generated in a direction opposite to the rotational deformation occurring in the structure. Input to an object to reduce rotational deformation occurring in the structure.

[0004] The vibration damping moment is generated by following the rotational deformation of the structure that is repeated in the forward and reverse directions due to the vibration, thereby reducing the vibration input to the structure. Since the angular velocity generated around the support axis is a passive variable determined according to the angular velocity due to the rotational deformation of the structure, the magnitude of the generated vibration damping moment is limited, and when a large external force acts on the structure. It is not possible to generate a damping moment of a magnitude corresponding thereto.

On the other hand, the inventor of the present invention amplifies the angular velocity around the support shaft by using a drive motor or the like as a rotary driving means as described in Japanese Patent Application No. 2-283616. Discloses a method of increasing the value of the vibration damping moment. However, the damping moment generated by the precession of the rotating body of the gyro device for damping as described above acts as a vertical force (couple) on the structure via the support base to dampen the vibration. Although the force that constitutes the couple is not always acting on the structure in the vertical direction, part of the structure depends on the inclination angle θ of the rotating body with respect to the horizontal plane at that time. Horizontal force (torsional moment) that causes torsional motion.

In order to eliminate this, in the conventional apparatus, two separate vibration control gyro devices having half the performance of the above-mentioned vibration control device are installed separately, and the rotating bodies of the two devices are mutually connected. By rotating at high speed in the opposite direction to cancel the torsional moment, another vibration control device having the same performance is installed on a structure with the above device and the support shaft parallel to each other, and the rotating bodies are mutually By rotating in the opposite direction and generating the same angular velocity in the rotating bodies of both devices, the torsional moment is offset, and only the horizontal damping moment is applied to the structure.

In order to control torsional vibration of a structure, the gyro device for vibration suppression is installed on the structure so that the rotating body rotates at a high speed in a vertical plane. The rotating body precesses in the same manner as described above due to the torsional moment, and a torsional moment for damping is generated in proportion to the angular velocity of the precession, thereby reducing the torsional vibration of the structure.

[0008]

However, in the above-described conventional vibration control device, vibrations in respective directions are individually controlled by separate vibration control gyro devices, so that horizontal vibration is controlled. Therefore, at least two vibration-control gyro devices are required, and at least one vibration-control gyro device is required to control torsional vibration. Then, there is a problem that at least three vibration control gyro devices are required, and a large space is required for installing the vibration control device on a structure.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and provides a vibration control device capable of simultaneously performing vibration control in both the horizontal direction and the torsion direction by a pair of vibration control gyro devices. The purpose is.

[0010]

In order to achieve the above object, a vibration control apparatus for a structure according to the present invention rotates a rotating body rotating at a high speed around a support axis perpendicular to the rotation axis and horizontal. A gyro device for vibration suppression, which is supported as possible, is installed on a structure, causing a precession around the support axis on the rotating body, and a vibration suppression moment generated in proportion to the angular velocity of the precession. A vibration control device for reducing the vibration of a structure, comprising a pair of the above-mentioned gyroscopic devices for vibration suppression in which the rotating bodies rotate in opposite directions and the support shafts are arranged in parallel with each other; Two angle detecting means for respectively detecting the inclination angle of each rotating body of the gyro device with respect to the horizontal plane,
Two rotary driving means for driving each of the rotating bodies about a support axis, vibration detecting means for detecting horizontal and torsional movements of the structure, angle detecting means, rotary driving means, and vibration detecting means Connected to the means, inputting a signal corresponding to the tilt angle of each rotating body from the angle detecting means, and canceling out the deformation moment generated in the structure based on the signal input from the vibration detecting means. Calculate the horizontal damping moment and torsional moment required for
When calculating the angular velocities to be generated in each of the rotating bodies in order to generate the vibration damping moment, a difference is given to the values of the angular velocities to be generated in the two rotating bodies as much as possible to generate the calculated torsional moment. And a controller for calculating a rotational torque corresponding to each of the calculated angular velocities, and supplying a rotational torque driving command to each of the rotary driving means.

[0011] A gyro device for vibration suppression, which rotatably supports a rotating body rotating at a high speed about a horizontal support axis perpendicular to the rotating axis, is installed on a structure, and the rotating body is mounted on the rotating body. In a vibration control device that generates precession around the support axis and reduces the vibration of the structure due to the damping moment generated in proportion to the angular velocity of the precession, the rotating bodies rotate in opposite directions. A pair of the vibration suppression gyro devices arranged so that their support axes are parallel to each other, and two angle detection means for respectively detecting an inclination angle of each rotating body of the both vibration suppression gyro devices with respect to a horizontal plane; Two rotating drive means for rotating each rotating body around the support axis, two rotating body driving means for rotating each rotating body at a high speed around each rotating axis, horizontal movement and torsional movement of the structure Detecting vibration Output means, and the angle detecting means, the rotary driving means, the rotating body driving means, and the vibration detecting means. The vibration detecting means receives signals from the angle detecting means in accordance with the inclination angles of the rotating bodies. Calculate the horizontal damping moment and the torsional moment required to cancel the deformation moment generated in the structure based on the signal input from the The product value of the rotational angular velocity of each rotating body and the angular velocity around the support axis in the vibration gyro device is obtained, and further, the rotational angular velocity and the support shaft of the rotary body of each vibration control gyro device that become the value of each obtained product are obtained. The rotation angular velocity around the support shaft is determined, and a rotational drive command of a torque amount corresponding to the calculated angular velocity around the support shaft is supplied to each of the rotation driving means. It may be a vibration control device of a structure, wherein a command to change the rotation angular velocity of the rotating body and a controller for supplying to the respective rotary body drive means.

[0012]

In a vibration suppression gyro device, when a predetermined torque for rotating around a support shaft is input to a rotating body rotating at a high speed, the rotating body uses the supporting shaft as a rotating shaft in proportion to the torque. Rotational motion at a given angular velocity (precession)
Is generated, and a vibration damping moment M proportional to the angular velocity of the precession in the support axis direction is generated.

The vibration damping moment M is represented by the following equation. M = Ω · I · ω where Ω: angular velocity around the support axis of the rotating body, I: mass rotational inertia moment around the rotating axis of the rotating body, ω: rotational angular velocity of the rotating body. On the other hand, it acts as a vertical force (couple), and serves as a vibration damping force for reducing a deformation moment due to vibration generated in the structure. However, the force constituting the couple does not always act on the structure in the vertical direction. When the vibration damping moment M is generated, the rotating body at that time has a predetermined inclination angle θ with respect to the horizontal plane.
, The damping moment M becomes the following damping moment M _{H in the} direction of the support axis, that is, in the horizontal direction.
And a torsional moment Mτ causing a torsional motion in the structure. M _H = M · cos θ = Ω · I · ω · cos θ Mτ = M · sin θ = Ω · I · ω · sin θ In the present invention, since two gyro devices for damping are installed, the above damping moment is obtained. The M _H and the torsional moment Mτ are expressed as the following equations as a combination of the moments generated from both the vibration suppression gyro devices. M _H = Ω ₁ · I ₁ · ω ₁ · cos θ ₁ −Ω ₂ · I ₂ · ω ₂ · cos θ ₂ Mτ = Ω ₁ · I ₁ · ω ₁ · sin θ ₁ + Ω ₂ · I ₂ · ω ₂ · sin θ ₂ Here, Ω ₁ , I ₁ , and ω ₁ represent the angular velocity around the support axis, the mass rotational moment of inertia, and the rotational angular velocity, respectively, of the rotating body of the one gyro device for vibration suppression. Ω ₂ , I ₂ , and ω ₂ represent the angular velocity around the support axis, the mass rotational inertia moment, and the rotational angular velocity, respectively, of the rotating body of the other vibration suppression gyro device.

Since the rotating bodies of the two gyro units are rotating in opposite directions, the signs of ω ₁ and ω ₂ are opposite. Conventionally, each set value of the performance of a pair of vibration suppression gyro devices is set to be the same, and the torsional moment generated by making the angular velocities generated in both rotating bodies the same magnitude is offset. In the present invention, a difference is generated in the angular velocities generated between the two rotating bodies to positively generate a torsional moment, thereby reducing horizontal movement (translational movement) generated in the structure due to vibration and torsional movement generated in the structure. Generates a torsional moment which also reduces.

Based on the above principle, in the present invention, when an external force such as a wind or an earthquake is input to a structure and horizontal or torsional motion occurs in the structure, the horizontal or torsional motion is applied to the structure. The vibration is detected by an installed vibration detecting means, for example, a sensor including a pair of a speedometer and an accelerometer, and a signal corresponding to the detected value is supplied to the controller. The controller calculates a horizontal bending moment and a torsional moment generated in the structure at that time based on the signal, and generates a bending moment M _H and a torsional moment Mτ that cancel out the both moments. For this purpose, the angular velocities around the support shaft generated on both rotating bodies are obtained from the above equation.

Here, the mass rotational inertia moment and the rotational angular velocity of the rotating bodies of the two rotating bodies are fixed beforehand. The angle detector always supplies the controller with the inclination angle of the rotating body with respect to the horizontal plane. Further, the controller issues a drive command for generating a predetermined rotation torque to the rotation drive means for rotating the rotating body about the support shaft as a rotation axis so that the calculated angular velocities are generated.

The rotary drive means generates precessions at different angular velocities for each of the rotating bodies by rotating each of the rotating bodies around the support shaft at a predetermined torque. As a result, the necessary horizontal vibration damping moment and torsional vibration damping moment are simultaneously generated, and the vibration generated in the structure causes
The bending moment and the torsional moment at that time are reduced.

This is performed for the bending moment and the torsional moment which are repeatedly generated in the forward and reverse directions by the vibration to reduce the vibration of the structure. Further, in the device described in claim 2, the product values Ω ₁ · ω ₁ and Ω ₂ · ω ₂ of the rotational angular velocity of the rotating body and the angular velocity around the support axis of each gyro device for vibration damping are respectively determined. Variable S ₁ = Ω ₁ · ω ₁ , S ₂ = Ω ₂
· Omega ₂ and if it is assumed, the equation can be expressed then as. M _H = S ₁ · I ₁ · cos θ ₁ -S ₂ · I ₂ · cos θ ₂ Mτ = S ₁ · I ₁ · sin θ ₁ + S ₂ · I ₂ · sin θ _{2 From} these two equations, the above two moments M _{H and} Mτ The product values S ₁ and S ₂ are calculated for generating, and the product value is appropriately divided into the rotational angular velocity and the angular velocity for each product value, and the rotational angular velocity of each rotating body is changed so as to become the value. At the same time, the rotating body is rotated with the torque capable of generating the calculated angular velocity.

Based on the above principle, the invention of claim 2 provides:
The controller obtains a bending moment M _H and a torsional moment Mτ for damping in the same manner as described above based on a signal from the vibration detecting means, and further obtains the product values S _{1 and} S ₂ from the above equation. Next, the controller divides the values S _{1 and} S ₂ into the rotational angular velocities of the respective rotating bodies and the angular velocities around the support shaft, and transmits a torque driving command corresponding to the obtained angular velocities to the respective rotary driving means. At the same time, a command to change the rotational angular velocity of each rotator to the rotational angular velocity determined above is issued to each rotator driving means.

As a result, a rotational angular velocity of the rotating body and an angular velocity around the support axis are generated at each rotating body, which generate both moments required for the above-described vibration suppression, and the deformation moment of the structure at that time is reduced.

[0021]

An embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the vibration control device includes a pair of vibration control gyro devices A and B installed at a predetermined position such as a top of a structure at a predetermined interval. The configuration of the vibration control gyro devices A and B, which are the main components of each vibration control device installed in the above structure, will be described. As shown in FIGS. 2 and 3, the outer peripheral portion is thicker than the inner peripheral portion. A thick disk-shaped rotating body 1 is disposed with the rotating shaft 2 facing up and down, and both upper and lower ends of the rotating shaft 2 of the rotating body 1 are positioned on the center axis of the flat spindle circular frame 3. It is rotatably supported. On the outer periphery of the frame 3, support beams 4 are provided extending in the direction of the support axis X at both ends in the direction of the support axis X, which are orthogonal to the rotation axis 2 of the rotating body 1 and are horizontal. Is a support 6 fixed to the structure 5
The rotating body 1 is rotatable around the support axis X via the frame 3 and the support beam 4.

A rotating body driving motor 20, which is a rotating body driving means for rotating the rotating body 1 at a high speed, is connected to one of the rotating shafts 2 of the rotating body 1 so as to rotate the rotating body 1 at a constant speed. High-speed rotation drive at angular speed. An electric motor 8 is connected to one of the support beams 4 of the vibration control gyro devices A and B. The electric motor 8 is a rotary drive unit that drives the rotating body 1 to rotate around the support axis X. The electric motor 8 is connected to a controller 9 and drives the rotary shaft 2 to rotate at a predetermined torque according to a command supplied from the controller 9 to rotate the rotating body 1 around the support axis X at a predetermined angular velocity proportional to the torque. It is designed to rotate (precess) with Ω.

The other support beam 4 includes a rotating body 1
As an angle detecting means for detecting the inclination angle θ with respect to the horizontal plane, for example, an inclinometer 7 is attached.
Is connected to the controller 9 and constantly supplies a signal corresponding to the detected inclination angle θ of the rotating body 1 to the controller 9. The pair of vibration suppression gyro devices A configured as described above,
B includes an electric motor 8 and an inclinometer 7, and is disposed on the structure 5 such that the directions of the support axes X are on the same axis as shown in FIG.

The two rotating bodies 1 of the pair of vibration suppression gyro apparatuses A and B have the same mass rotational moment of inertia and rotate at a high speed at the same rotational angular velocity and at a constant speed in the opposite direction. Further, a pair of vibration detection means is provided at right angles to the support axis X direction of the vibration suppression gyro devices A and B, and at symmetrical positions around the support axis X direction, that is, the vibration control gyro devices A and B. Speedometers 10 are respectively installed on the structures 5. The pair of speedometers 10 is connected to the controller 9, detects the moving speed of the structure 5 due to vibration, and supplies a signal corresponding to the moving speed to the controller 9.

The controller 9 calculates the horizontal bending moment and the vertical torsional moment generated in the structure 5 at that time based on the signals input from the pair of speedometers 10, and calculates both of them. The horizontal bending moment and the torsional moment in the opposite direction to cancel the moment are obtained, and a signal according to the inclination angle θ of each rotating body 1 inputted from the inclinometer 7 is always inputted. Angular velocities Ω _{1 and} Ω ₂ generated in the rotating bodies 1 of the gyro devices A and B are obtained, and a drive signal for generating a rotational torque corresponding to the angular velocities Ω _{1 and} Ω ₂ is supplied to each of the electric motors 8. M _H = I · ω (Ω ₁ · cos θ ₁ + Ω ₂ · cos θ ₂ ) ··· (1) Mτ = I · ω (Ω ₁ · sin θ ₁ -Ω ₂ · sin θ ₂ ) ··· (2) Ω represents the absolute value of the angular velocity around the rotation axis 2 of the rotating body 1 of both the vibration suppression gyro devices A and B, I represents the mass rotational inertia moment of both rotating bodies, θ ₁ and θ
_{In the} vibration control device described above, each of which indicates the angle of inclination of both rotating bodies 1 with respect to the horizontal plane, as shown in the flow chart of FIG. In the state where it is not input to the structure 5,
Both rotating bodies 1 input from the inclinometer 7 as the angle detecting means
The rotating body 1 is slowly rotated via the electric motor 8 so that the inclination angle of the rotating body 1 becomes zero to keep the rotating body 1 in a horizontal state (step 1).

As can be seen from the above equation (1), the smaller the inclination angle θ is, the larger the horizontal damping moment M _H given to the structure 5 becomes, and the rotating body 1 becomes 45 degrees or more during the damping control. This is to reduce the risk of tilting from the horizontal direction. In the above state, when an external force exceeding a predetermined value due to a wind, an earthquake, or the like is input to the structure 5, the external force generates a horizontal vibration in the support axis X direction and a torsional vibration about the vertical direction in the structure 5 (step). 2). Then, the moving speed of the structure 5 at the position where the vibration control device is installed is measured by the pair of speedometers 10 and supplied to the controller 9 (step 3).

The controller 9 obtains the current horizontal moving speed and torsional speed generated in the structure 5 based on the signals input from the pair of speedometers 10, thereby obtaining the current speed. A horizontal bending moment and a torsional moment generated in the structure 5 are calculated (Step 4). Since the pair of speedometers 10 are installed symmetrically with respect to the support axis X of the gyro devices A and B, the gyro devices A and B for generating a damping moment are used. The horizontal bending moment and the torsional moment generated in the structure 5 at the time of installation can be calculated based on the sum of the moving speeds input from the pair of speedometers 10 and the difference in the moving speeds.

Next, the controller 9 calculates an opposite horizontal vibration damping moment M _H and a torsional torsional moment Mτ that cancel out the bending moment and the torsional moment obtained above (step 5), and the values are calculated. Is substituted into the above equations (1) and (2) to calculate the angular velocities Ω _1, Ω ₂ generated in each of the rotating bodies 1 of the gyro apparatus A, B for vibration suppression (step 6).

[0029] Here, the value mass rotational moment of inertia I of the rotating body _1, and the rotational angular speed ω is predetermined in the above formula, The inclination angle theta ₁ with respect to the horizontal plane of the rotating body _1, theta ₂ is the angle This is a value that is constantly input from the detection means. Next, the controller 9 separately supplies a drive signal corresponding to the torque corresponding to each of the obtained angular velocities Ω _{1 and} Ω ₂ to each electric motor 8.

The electric motor 8 receives the supplied drive signal.
The support beam 4 is rotationally driven with a torque corresponding to
3, each rotating body 1 has a difference proportional to the torque.
Angular velocity Ω_1,Ω_TwoTo rotate (precess)
7). By this precession, the gyro device A for both vibration control_,
Angular velocity Ω given to B_1,Ω _TwoMoment
Gyro A for each vibration suppression generated in the X-axis direction_,Branch of B
Vertical force (couple) on the structure 5 via the support 6
Enter. At this time, each rotating body 1
Because the couple is inclined at a predetermined inclination angle θ, the couple is
, The horizontal damping moment M according to the above equation
_HAnd a torsional damping moment Mτ is generated
Step 8), the point due to the external force input to the structure 5
To reduce bending and torsional moments.

The angular velocities Ω _1, Ω of the two rotating bodies 1 generated above
_{The control 2} controls the angular velocities generated in the two rotating bodies 1 to be equal so that the vibration damping moment Mτ in the torsional direction is small and desirably zero in the prior art. Angular velocities Ω _1, Ω ₂ generated by both rotating bodies 1
, The horizontal bending moment generated in the structure 5 at that time is reduced, and the torsional vibration generated in the structure 5 is also reduced at the same time.

The above processing is repeated until the deformation moment in both the forward and reverse directions generated in accordance with the rotational deformation generated in the structure 5 by the vibration until it becomes equal to or less than a predetermined value (step 9). The vibration input to the object 5 is reduced. When the vibration of the structure 5 becomes equal to or less than the predetermined value by the above processing, the vibration damping processing is stopped, and the rotating body 1 is slowly rotated around the support axis until the inclination angles θ _{1 and} θ _{2 of} each rotating body 1 become zero. Let it.

When the inclination angles θ _1, θ _{2 of the} rotating body 1 measured by the inclinometer 7 during the above-mentioned vibration damping processing become a predetermined value or more, for example, 45 degrees or more, a horizontal vibration damping moment M is obtained. _{Since H} cannot be generated effectively, the above processing is stopped. At this time, the electric motor 8 which is a rotating means is used.
Is separated from the support beam 4 to perform passive vibration damping processing by passive angular velocity generated by rotational deformation of the structure 5, which is a conventional vibration damping processing.

In the above-described embodiment, the rotary body 1 is rotated around the support axis by directly rotating the support beam 4 by the electric motor 8, but the rotary drive means is not limited to this. , For example, as shown in FIG. That is, the driving motor 12 is mounted on the center axis of the outer periphery of each frame 3, that is, on the lower structure 5 on the same plane as the rotating shaft 2, and the gears 13 and 14 meshing with each other between the driving motor 12 and the frame 3 With
By rotating the frame 3 by the rotation of the drive motor 12, the rotating body 1 is driven to rotate around the support shaft. When the rotary driving means having such a configuration is employed, the force required to apply a desired torque around the support shaft of each of the vibration control gyro devices A _and B is smaller than in the above-described embodiment.

In the above embodiment, the pair of speedometers 10 is used as the vibration detecting means for measuring the vibration of the structure 5. However, the present invention is not limited to this. Alternatively, a combination of other known sensors may be used, such as measuring the vibration in the parallel direction with the above-mentioned speedometer and measuring the torsional motion with the torsion meter. Further, in the above embodiment, the description has been made with the magnitudes of the mass rotational inertia moment and the rotational angular velocity of the rotating bodies 1 of the two vibration suppression gyro devices A _and B being the same. The magnitudes of the respective mass rotational inertia moments and rotational angular velocities of the rotating bodies 1 of the gyro apparatuses A and B do not necessarily have to be the same value, and may be set to different values.

Although the electric motor 8 is used as the rotary drive means for directly applying a torque to the support shaft, the present invention is not limited to this, and another mechanism such as a hydraulic mechanism may be used. . Further, in the above embodiment, the two vibration suppression gyro devices are arranged so that both support shafts are aligned on the same axis. However, the present invention is not limited to this. May be arranged so as to be parallel to each other.

Next, a vibration control device according to a second embodiment will be described. As shown in FIG. 6, the vibration control device according to the second embodiment connects a controller 9 with a rotating body drive motor 20 for rotating the rotating body 1 of each of the vibration suppression gyro devices A and B at a high speed. The rotation angular velocity of each rotating body 1 by the rotating body drive motor 20 can also be controlled by a command from the controller 9. Other configurations are the same as those of the first embodiment.

In the first embodiment, the angular velocities Ω _{1 and} Ω ₂ generated on the rotating bodies 1 of the gyro apparatus A and B for vibration suppression when the horizontal vibration suppression moment M _H is generated are used as variables. To generate a torsional moment Mτ in accordance with the torsional movement. However, in the second embodiment, the rotational angular velocities input to the two rotating bodies 1 are also changed so that the two damping moments M _H, Mτ is generated.

That is, based on signals from vibration detecting means including a pair of sensors 10 such as a speedometer, the controller 9 generates a horizontal bending moment and a vertical bending moment generated in the structure at that time. A torsional moment is determined, and a bending moment M _H and a torsional moment Mτ for canceling the two moments are calculated (step 20).

Then, the controller 9 calculates S ₁ and S ₂ which are product values of the rotational angular velocities ω _{1 and} ω _{2 of the} rotating body 1 and the angular velocities Ω _{1 and} Ω ₂ around the support axis from the following two equations. (Step 21). M _H = I · (S ₁ · cos θ ₁ −S ₂ · cos θ ₂ ) (3) Mτ = I · (S ₁ · sin θ ₁ + S ₂ · sin θ ₂ ) (4) Rotary body _{1 of} both gyro devices A _and B for both damping
Since ω ₁ is rotated in the opposite direction, the signs of ω ₁ and ω ₂ are opposite, so the signs of S ₁ and S ₂ are also opposite. The values of the inclination angles θ _{1 and} θ ₂ of the rotating bodies 1 are values that are constantly supplied from the inclinometer 7.

Next, the controller 9 calculates the product calculated above.
Value S_1,S_TwoProduct value S individually based on_1,S_TwoEach time
Rotational angular velocity ω of rolling element 1_1,ω_TwoAnd the angular velocity Ω around the support axis
_1,Ω _TwoTo determine. Here, S = ω · Ω.
Therefore, if the rotational angular velocity ω is increased, the angular velocity Ω will be smaller.
Value. Therefore, for example, the signal from the inclinometer 7
And the inclination angle θ of the rotating body 1_1,θ_TwoSeems to be close to the upper limit
If the rotation angular velocity ω is set higher, the value of the angular velocity Ω
Rotating body by setting small₁Angle of inclination θ_1,θ_TwoSmall changes
Processing such as shrinking becomes possible.

Next, the controller 9, the rotational angular velocity omega ₁ calculated above to the rotary body drive motor 20 which is the rotating-body driving device _issues a command to change omega ₂ (step 23), the rotational movement driving means A command to rotate the motor 8 with a torque proportional to the calculated angular speeds Ω _{1 and} Ω ₂ is issued to the electric motor 8 (step 24). Thus, each rotating body drive motor 20 changes the rotating angular velocity of each rotating body 1 to the calculated rotating angular velocities ω ₁ and ω ₂ , and the electric motor 8 serving as the rotating drive means applies a torque corresponding to the drive signal. To rotate the supporting beam 4 to rotate the respective rotating bodies 1 at angular velocities Ω _{1 and} Ω ₂ proportional to the respective torques (precession).
(Step 25).

As a result, desired horizontal damping moments M _H and torsional moments Mτ are generated by the damping gyro devices A and B, and the deformation moment of the structure 5 at that time is reduced. When the vibration of the structure is completely damped, the rotational angular velocities ω _{1 and} ω ₂ of each rotating body 1 are returned to the initial rotational angular velocities.

Other functions and effects are the same as those of the first embodiment.

[0045]

As described above, in the vibration control apparatus for a structure according to the present invention, horizontal and torsional vibrations can be simultaneously controlled only by a pair of vibration control gyro devices. . For this reason, only two vibration-control gyro devices, which conventionally required at least three vibration-control devices, can be used. Therefore, the number of vibration-control gyro devices that generate a vibration-reducing moment is reduced, and vibration required for installation on a structure is reduced. The effect that the space occupied by the control device can be reduced is obtained. At this time,
According to the second aspect of the present invention, a dyke for vibration suppression is provided.
(B) The rotational angular velocity of the rotating body and the angular velocity around the support axis for the device
Vibration can be controlled by two kinds of variables, such as
When the inclination angle of the
Processing such as setting the value of the angular velocity small
There is an effect that can be cut.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a configuration of a structure vibration control device according to a first embodiment of the present invention.

FIG. 2 is a plan view of the gyro device for damping.

FIG. 3 is a sectional view taken along line DD in FIG. 2;

FIG. 4 is a diagram showing a flow of processing of vibration control of the first embodiment.

FIG. 5 is a view showing a second rotary driving means of the first embodiment.

FIG. 6 is a schematic configuration diagram showing a configuration of a structure vibration control device according to a second embodiment of the present invention.

FIG. 7 is a schematic diagram illustrating a flow of a vibration control process according to a second embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Rotating body 2 Rotating axis 3 Frame 4 Support beam 5 Structure 6 Support base 7 Inclinometer 8 Electric motor 9 Controller 20 Rotating body drive motor 10 Speedometer A, B Gyro device for vibration suppression X Support axis θ _, θ _1, θ inclination omega _two rotating _body, omega _1, the angular velocity omega around omega ₂ support _shaft, omega _1, the rotation angular velocity of omega _second rotator S _1, S ₂ product value

Claims (2)

(57) [Claims] A gyro device for vibration suppression, wherein a rotator rotating at a high speed is supported rotatably about a horizontal support axis perpendicular to the rotation axis, is installed on a structure, and the rotator is mounted on the rotator. In a vibration control device that causes precession around a support axis and reduces vibration of a structure by a damping moment generated in proportion to the angular velocity of the precession, the rotating bodies of the two rotate in opposite directions and A pair of the vibration suppression gyro devices arranged so that their support axes are parallel to each other, two angle detection means for respectively detecting an inclination angle of each rotating body of the both vibration suppression gyro devices with respect to a horizontal plane, Two rotational driving means for driving the rotating body around the support shaft, vibration detecting means for detecting horizontal and torsional movements of the structure, the angle detecting means, rotational driving means, and vibration detecting means; Connect and detect angle Means for inputting a signal corresponding to the inclination angle of each rotating body from the means, and canceling the deformation moment generated in the structure obtained based on the signal input from the vibration detecting means. When calculating the damping moment and the torsional moment, and further calculating the angular velocity to be generated in each rotating body to generate the above-described vibration damping moment, the angular velocity generated in both rotating bodies as much as possible to generate the calculated torsional moment And a controller that calculates the respective angular velocities to be generated in the two rotating bodies by giving a difference to the values of the two rotating bodies, and supplies a driving command of the amount of the rotating torque corresponding to the calculated respective angular velocities to the respective rotary driving means. A vibration control device for a structure, comprising: 2. A vibration suppression gyro device, which supports a rotating body that rotates at a high speed so as to be rotatable about a horizontal support axis perpendicular to the rotating axis, is installed on a structure, and the rotating body is mounted on the rotating body. In a vibration control device that causes precession around a support axis and reduces vibration of a structure by a damping moment generated in proportion to the angular velocity of the precession, the rotating bodies of the two rotate in opposite directions and A pair of the vibration suppression gyro devices arranged so that their support axes are parallel to each other, two angle detection means for respectively detecting an inclination angle of each rotating body of the both vibration suppression gyro devices with respect to a horizontal plane, Two rotary driving means for rotating the rotating body around the support axis, two rotating body driving means for rotating each of the rotating bodies at high speed around the rotating axis, and horizontal movement and torsional movement of the structure. Vibration detection means to detect And the angle detecting means, the rotational driving means, the rotating body driving means, and the vibration detecting means,
A horizontal axis required to cancel the deformation moment generated in the structure obtained based on the signal input from the vibration detecting means while inputting a signal corresponding to the tilt angle of each rotating body from the angle detecting means, Calculate the vibration damping moment and torsional moment in the direction, and calculate the product value of the rotational angular velocity of the rotating body and the angular velocity around the support shaft in the gyro device for both vibration damping necessary to generate both the above moments at the same time. Determine the rotational angular velocity of the rotating body and the angular velocity around the support axis of the gyro device for each vibration suppression to be each obtained product value,
A rotation drive command of a torque amount according to each angular velocity around the determined support shaft is supplied to each rotation drive unit, and a command to change the rotation angular velocity of each rotary body to the calculated rotation angular velocity is given to each rotary body. A vibration control device for a structure, comprising: a controller for supplying to a driving unit.