JP2889329B2 - Control method of dynamic vibration absorber device for building - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to vibration control for reducing vibrations of flexible structures such as high-rise buildings, pencil buildings and various towers due to earthquakes and winds, and more particularly to dynamic vibration absorbers for buildings. It relates to a control method.

2. Description of the Related Art Tall buildings such as high-rise buildings, pencil bells and various towers employ a flexible structure to absorb vibration energy and improve seismic strength.

In the case of this flexible structure, the building itself forms a single vibration system in the event of an earthquake or strong wind.However, even in a normal wind, the vibration may increase and the habitability may be impaired. A method of attaching an additional mass to couple the auxiliary spring mass system is adopted.

That is, by setting the natural frequency of the main spring mass system of the building itself and that of the sub-spring mass system to be substantially the same, a dynamic vibration absorber that generates vibration to cancel the vibration of the building and realizes a vibration absorbing effect ( It has been proposed to provide a dynamic damper) device.

Conventionally, in this type of dynamic vibration absorber for buildings, the relative displacement and relative speed of the additional mass of the mass damper with respect to the installation floor,
So-called optimal regulator control has been performed in which the relative displacement and relative speed between the building and the ground are measured and fed back to a controller to control an actuator so as to minimize the absolute acceleration of the building.

For example, those described in JP-A-2-85476, JP-A-2-85477, JP-A-2-85478, JP-A-2-85479, etc. show the above-described optimal regulator control. The vibration absorption effect of the control is used to reduce the vibration amplitude of the building, reduce the overall deformation of the building, and improve the livability.

Problems to be solved However, conventionally, optimal regulator control is always performed, and when a disturbance due to a weak earthquake and a wind up to a seismic intensity of about 3 is received, the vibration of the entire building can be controlled, and a great effect can be obtained. However, in the case of a middle earthquake and a strong earthquake exceeding seismic intensity 3, not only the stroke of the mass damper becomes excessive, but also an extremely large driving force is required for the actuator of the mass damper for optimal control, and it is difficult to realize. There was a problem.

The present invention has been made in view of such a point, and a purpose thereof is to respond to an earthquake of seismic intensity 3 or more by changing a control method, always effectively operate a dynamic vibration absorber device, and to construct a building. It is an object of the present invention to provide a control method of a building dynamic vibration absorber device capable of reducing vibration.

Means for Solving the Problems and Action To achieve the above object, the present invention provides a dynamic vibration absorber device which can be actively controlled by an actuator on the roof of a building or a floor near the same, and an additional vibration vibration absorber device. In the method of driving and controlling the actuator of the dynamic vibration absorber device based on a detection signal from a vibration sensor that detects each vibration of the mass, the building, and the ground, when a disturbance due to a weak earthquake or a wind up to a seismic intensity of about 3 is applied, the absolute Optimal regulator control to control the actuator so that the acceleration is minimized. In the case of a moderate earthquake with a seismic intensity of 3 to 5, the natural frequency of the building is identified from the absolute acceleration of the building, and the additional mass part is set optimally. Model matching control that controls the actuators in the same way as the passive dynamic vibration absorber movement. A displacement control method for controlling an actuator such that a relative displacement of an added mass with respect to an installation floor does not exceed a predetermined displacement or a control method for a building dynamic vibration absorber device that stops control of an actuator and operates as a passive dynamic vibration absorber. is there.

In the event of a weak earthquake or wind disturbance, a large vibration reduction effect can be obtained by the optimal regulator control, and during a moderate earthquake, it operates like a passive mass damper with a very small control force and optimal tuning by the model matching control. In the event of a strong earthquake, displacement control or a passive dynamic vibration absorber prevents excessive displacement of the mass damper to ensure safety as much as possible.

Embodiment An embodiment according to the present invention shown in FIGS. 1 to 10 will be described below.

FIG. 1 is a schematic elevation view of a building provided with the vibration control device of the present embodiment.

A tower-like building 2 is constructed on the ground 1, and a vibration control device 10 according to the present invention is installed on the top floor of the ground 2.

The building 2 has, for example, a square, rectangular or diamond-shaped floor surface with a side of about 10 to 25 m and a height of 60 to 150 m.
A typical example is a building constructed with a steel frame structure that reaches a maximum pressure and swings with a natural period of about 2 seconds and an amplitude of about several tens of mm under wind pressure. The present embodiment is also directed to such a building.

On the top floor 3 of the building 2, a dynamic vibration absorber 11 holding an additional mass M13 via a horizontal spring means 12 is installed.

A rod end of a hydraulic cylinder 14 as an actuator separately fixed to the building 2 is fixed to the additional mass M13, and the additional mass M13 can move parallel to the floor 3 by driving the hydraulic cylinder 14.

Vibration sensors 15, 16, 17 are installed on the floor 3, the additional mass M13, and the ground 1 of the building 3, respectively. The vibration sensor 15 is the vibration of the building 2, and the vibration sensor 16 is the additional mass M13.
The vibration sensor 17 detects the vibration of the ground 1.

The detection signals of the vibration sensors 15, 16, and 17 are input to a control circuit 18, and the control circuit 18 generates a control signal based on the detection signal and outputs the control signal to the hydraulic cylinder 14 to control the driving of the hydraulic cylinder 14. I do.

The vibration control device 10 is configured as described above, and when the control circuit 18 inputs and analyzes the detection signals of the vibration sensors 15, 16, 17 and drives and controls the hydraulic cylinder 14 to reduce the shaking of the building 2, The hydraulic cylinder 14 acts as an active dynamic vibration absorber by displacing the additional mass M13 horizontally with respect to the floor 3 and can suppress the shaking of the building 2.

That is, the vibration control device 10 couples the building 2 having a flexible structure as a main vibration system, and couples the dynamic vibration absorber 11 including the horizontal spring means 12 and the additional mass M13 as a sub-spring mass system having substantially the same vibration period, By forcibly exciting the additional mass M13 by the hydraulic cylinder 14, even if the building 2 shakes under the excitation force of various wide frequency bands, it is possible to control to effectively reduce the shaking.

FIGS. 2 and 3 show the dynamic damper 11 of the auxiliary spring mass system.
1 is a front view and a cross-sectional view of FIG.

The horizontal spring means 12 includes a laminated elastic body (laminated rubber) 20 and a stabilizer 21 alternately overlapping between the floor 3 and the additional mass M13.
It is configured as a multi-stage elastic unit that is stacked on a stage and forms a square shape.
Is fixed.

The three stabilizers 21 are rigid connecting plates that form a square shape and have the laminated elastic bodies 20 fixed at four positions on each of the upper and lower surfaces and connect the upper and lower ends of the corresponding laminated elastic bodies 20. It is interposed in order to increase the horizontal displacement capability that changes elastically without buckling when a lateral load is applied by wind.

An attenuator 22 for attenuating horizontal vibration is provided in a predetermined arrangement between the upper and lower stabilizers 21 facing each other.

Here, as shown in FIGS. 4 and 5, the laminated elastic body 20 is formed by alternately laminating a rubber or other elastomer material 25 and a metal reinforcing plate 26 and integrally integrating them into a cylindrical shape.
The structure has high rigidity in the vertical direction and elasticity in the horizontal direction.

A rectangular flange plate 27 is integrally fixed to the upper and lower surfaces of the laminated elastic body 20, and bolts are inserted into mounting holes 28 formed at four corners of the flange plate 27 so that the flange plate 27 is It can be fixed to the additional mass M13 or the stabilizer 21.

Next, the configuration of a control circuit 18 for controlling the drive of the hydraulic cylinder 14 is shown in a block diagram in FIG.

The detection signals from the vibration sensors 15, 16, and 17 installed at the respective predetermined positions are first input to the charge amplifier 31, amplified and extracted through a low-pass filter LPF32 to extract a low-frequency signal, and then the A / D converter 33 As a result, each signal is input to the signal processor 34 as a digital signal.

The signal processor 34 performs the most important control signal generation function in the control circuit 18, and the control signal is output to a D / A converter 35, converted into an analog signal, and then passed through a low-pass filter LPF 36. The low frequency band signal is extracted, amplified by the power-up 37, and output to the hydraulic cylinder 14 as a drive signal.

The hydraulic cylinder 14 is driven according to the drive signal to excite the additional mass M13.

The present embodiment is configured as described above, and when the entire system is schematically shown, it can be displayed as shown in FIG.

An additional mass M13 is mounted on the uppermost floor 3 of the building 2 standing on the ground 1 so as to be movable in the horizontal direction, and a spring acting horizontally between the fixed member 41 integrated with the floor 3 and the additional mass M13. Four
2, the damper 43 and the actuator 44 are interposed.

Here, the spring 42 and the damper 43 are based on the elasticity and the damping ability of the laminated elastic body 20, and the actuator 44 corresponds to the hydraulic cylinder 14.

When there is no actuator 44, a passive dynamic vibration absorber is formed, and when the actuator 44 is added and driven by the control of the control circuit 18, an active dynamic vibration absorber is formed.

Hereinafter, a control method by the control circuit 18 of the present embodiment will be described.

The control circuit 18 employs three types of control methods based on the detection signals of the vibration sensor 17 installed on the ground 1, and complete active control (optimum regulator control) for weak earthquakes with a seismic intensity of 3 (ground motion acceleration 50 gal) or less. ), Semi-active control (model matching control) is performed for the seismic intensity 3 to 5 (50 to 200 gal), and the seismic intensity 5 (20
Displacement control is performed for strong earthquakes of 0 gal or more.

The apparent attenuation rate of the building by these three control methods is as shown in FIG. 8, and the apparent attenuation rate decreases step by step in the order of active control, semi-active control, and displacement control.

Note that active control is performed when a disturbance due to wind is received.

First, active control in the event of a weak earthquake uses the vibration sensor 15, the relative displacement and relative velocity of the
At the same time, the relative displacement and relative speed of the building 2 with respect to the ground 1 are measured from the detection signals of the vibration sensors 15 and 17, and the actuator 44 (the hydraulic cylinder 14) is set so that the absolute acceleration of the building 2 is minimized. ) Performs optimal regulator control for driving control.

It shows a large vibration damping rate (see FIG. 8), and as shown in FIG. 9, the amplitude of the shaking of the building 2 can be reduced.

In FIG. 9, the amplitude is greatly reduced when the upper stage does not perform the optimal regulator control and when the lower stage performs the optimal regulator control.

However, this optimal regulator control is intended to minimize the absolute acceleration of the building 2, and when trying to cope with a vibration larger than the middle quake (seismic intensity 3 or more), there is no room for the stroke of the additional mass M13 and the hydraulic cylinder It is difficult to realize because the burden of 14 will exceed the limit.

Therefore, in the middle quake, the absolute acceleration of the building 2 is measured, the natural frequency of the building 2 is identified from the absolute acceleration, and the hydraulic cylinder is equal to the movement of the passive dynamic vibration absorber with the added mass M13 being optimally adjusted. Perform model matching control to control 14.

For example, the state where the additional mass M13 is optimally adjusted can be obtained by obtaining the damping ratio 動 d of the dynamic vibration absorber and the natural circular frequency ωd from the following equations (1) and (2).

ζd = [3ρ / {8 ( 1 + ρ)}] 1/2 + (0.130 + 0.12ρ + 0.4ρ 2) ζ s - (0.01 + 0.9ρ + 3ρ 2) ζ s 2 ...... (1) ωd / ωs = 1 / ( 1 + ρ) - (0.241 + 1.74ρ-2.6ρ 2) ζ s - (1.00-1.9ρ + ρ 2) ζ s 2 ...... (2) where the [rho = M (additional mass) / M _s (mass of the building) zeta _s Is the damping ratio of the building, and ω _s is the natural frequency of the building.

By controlling in this way, the dynamic vibration absorber 11 can be used to
3 works like an optimally adjusted passive dynamic vibration absorber, has a considerable apparent equivalent damping rate of the building (see Fig. 8), and the vibration response magnification of the building is shown in Fig. 10. As described above, the portion (FIG. 10 (a)) that resonates and protrudes at the natural frequency before the optimal adjustment is significantly reduced after the adjustment by the model matching control (FIG. 10 (b)).

However, in the case of a strong earthquake exceeding seismic intensity 5, since the effect cannot be expected even by the model matching control, in this case, the relative displacement and relative velocity of the additional mass M13 with respect to the floor 3 are measured, and the information is transmitted to the control circuit 18. This is addressed by performing feedback control to control the relative displacement of the additional mass M13 so as not to exceed a predetermined displacement.

Alternatively, when the additional mass M13 has a relative speed and relative displacement of a certain value or more, the control is stopped and the passive mass is simply used as a dynamic vibration absorber.

In this case, the hydraulic circuit of the hydraulic cylinder 14 is switched to generate a large damping force by a throttle valve provided with a bypass.
The displacement of M13 may be suppressed as much as possible.

As described above, according to the present embodiment, by switching the control method in three stages according to the magnitude of the disturbance due to the wind and the magnitude of the earthquake, the ability of the dynamic vibration absorber 11 is effectively used to always obtain the optimal vibration suppression effect. Can be.

Advantageous Effects of the Invention The present invention provides a dynamic vibration absorber device for a building, which performs optimal regulator control in the case of disturbance due to wind and a weak earthquake to improve the vibration reduction effect, and performs model matching control in a middle earthquake where the optimal regulator control is impossible. Operates as an optimally tuned dynamic vibration absorber to suppress vibration with a small control force, and in strong earthquakes, acts as a displacement control or passive dynamic vibration absorber to prevent excessive displacement of the added mass to maximize safety Can be increased.

As described above, by switching the control method in three stages according to the wind disturbance and the degree of the earthquake, the vibration can be suppressed as much as possible by always maximizing the performance of the dynamic vibration absorber regardless of the magnitude of the earthquake.

[Brief description of the drawings]

1 is a schematic elevation view of a building provided with a vibration control device according to one embodiment of the present invention, FIG. 2 is a front view of the dynamic vibration absorber of the embodiment, and FIG. 3 is III in FIG. -III sectional view, FIG. 4 is a front view of the laminated elastic body, FIG.
FIG. 7 is a block diagram of a control circuit of the embodiment, FIG. 7 is a schematic diagram of the entire system of the embodiment, FIG. 8 is a diagram showing an apparent attenuation rate of a building by the control method of the embodiment, FIG. 9 is a diagram showing the amplitude change, and FIG. 10 is a diagram showing the effect of the model matching control. DESCRIPTION OF SYMBOLS 1 ... Ground, 2 ... Building 3, 3 ... Floor surface, 10 ... Vibration control device, 11 ... Dynamic vibration absorber, 12 ... Horizontal spring means, 13 ... Additional mass M, 14 ... Hydraulic cylinder, 15,16,
17 …… Vibration sensor, 18 …… Control circuit, 20 …… Laminated elastic body, 21 …… Stabilizer, 22 …… Attenuator, 25 …… Elastomer material, 26 …… Reinforcement plate, 27 …… Flange plate, 28 …… Mounting hole, 31 …… Charge amplifier, 32 …… Low-pass filter LPF, 3
3 ... A / D converter, 34 ... Signal processor, 35 ... D / A converter, 36 ... Low pass filter LPF, 37 ... Power amplifier, 41 ... Fixed member, 42 ... Spring, 43 ... Damper, 44 ……
Actuator.

Continuation of front page (56) References JP-A-2-85476 (JP, A) JP-A-2-85478 (JP, A) JP-A-1-105879 (JP, A) JP-A-2-85477 (JP) , A) JP-A-2-85479 (JP, A) JP-A-63-217075 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) E04H 9/02 F16F 15/02

Claims (1)

(57) [Claims] A dynamic vibration absorber device capable of being actively controlled by an actuator is provided on a roof of a building or a floor near the same, and an additional mass of the vibration absorber device and a vibration sensor for detecting each vibration of the building and the ground. The method for driving and controlling the actuator of the dynamic vibration absorber device based on the detection signal, comprising: performing optimal regulator control for controlling the actuator so that the absolute acceleration of the building is minimized when a disturbance due to a weak earthquake or wind up to a seismic intensity of about 3 occurs. None, In the case of a middle quake with a seismic intensity of 3 to 5, a model that identifies the natural frequency of the building from the absolute acceleration of the building and controls the actuator equal to the movement of the passive dynamic vibration absorber with the added mass part set optimally Performs matching control, and in the case of strong earthquake with seismic intensity 5 or more, the relative displacement of the additional mass to the installation floor does not exceed the prescribed displacement The method of building a dynamic vibration absorber and wherein the operating as passive dynamic vibration reducer to stop the control of the displacement control or actuator for controlling sea urchin actuator.