JP3140485B2 - Active dynamic damper control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a control device for an active dynamic damper of a structure.

[0002]

2. Description of the Related Art Active dynamic dampers are:
It is intended to suppress the vibration of the structure by adding an additional mass to the structure and displacing the structure relative to the structure using an actuator. That is,
As shown in the system diagram of FIG. 2, an additional mass 2 is held on a structure 1 by using wheels 3 so as to be movable in a horizontal direction. The additional mass 2 can be displaced in the horizontal direction by a motor 5 through a ball screw 4, and the relative displacement between the additional mass 2 and the structure 1 can be measured by an encoder 6 attached to the motor shaft. The relative speed between the additional mass 2 and the structure 1 can also be measured by a tachometer 7 attached to the motor shaft. The current flowing through the motor is adjusted by the motor control circuit 8, and the torque is applied to the motor control circuit 8. By inputting a command, the structure 1 and the additional mass 2
The desired force can be applied during. As a control method of this kind of active dynamic damper, there is known a method of configuring an optimal regulator based on state feedback, using a horizontal displacement and a speed of a structure and a relative mass of an additional mass and a structure as state amounts. . In this case, the displacement and speed of the structure are measured by, for example, an absolute displacement meter 11 and an absolute speed meter 12 attached to the structure, and a relative displacement is obtained from an output of the encoder 6.
The relative speed is obtained from the output of (1), and the torque command U to the motor control circuit 8 is created by the formula [1].

U = K1 * X1 + K2 * V1 + K3 * X2 + K4 * V2 where u: Torque command to the motor control circuit X1: Relative displacement of additional mass 2 and structure 1 V1: Relative speed of additional mass 2 and structure 1 X2 : Absolute displacement of the structure 1 V2: Absolute velocity of the structure 1 K1, K2, K3, and K4 are feedback gains, respectively, and the determination method is widely known by linear control theory.

[0003]

However, in such a device, since a mechanical connection is present in the drive section, friction is inevitably generated, and the movement of the device does not necessarily follow the applied force. I do not. In particular, in the case of using a linear feedback as represented by the formula [1] as a control law, the control force is inevitably reduced while the run-out of the building is small, so that the control force cannot overcome friction and the device cannot operate. There's a problem. The present invention has been proposed in view of such circumstances, and proposes a control device for an active dynamic damper that is less susceptible to friction.

[0004]

Means for Solving the Problems] Therefore, A of the present invention
Control device for active dynamic damper is a control device of an active dynamic damper performs the damping of the structure by relative displacement with respect to the structure of the mass to be added to the structure by an actuator, the structure From the measured value of the magnitude of the shaking of the object, the time
Specific vibration estimating means for estimating a mean value, based on the calculation result of the vibration estimation unit, temporal average value of the measured values were in the damping of the active dynamic damper
Control force of the active dynamic damper
If it falls below the minimum value that can exceed the friction force
And the control force is applied to the active dynamic damper.
To increase the frictional force of
A feedback <br/> Kugein increasing means for increasing the feedback gain in the control for damping the active dynamic damper, and a.

[0005]

According to this structure, when the vibration of the building is small, the control gain of the control law expressed by the equation (1) is increased in order to generate a control force enough to overcome the frictional force. be able to. That is, since the magnitude of the vibration is small and the magnitude of the state quantity is small, the control force is reduced with a fixed gain.However, if the gain can be increased while the vibration is small, even if the vibration is small, the friction becomes small. It is possible to generate a control force enough to overcome. In the present invention, the vibration estimating means estimates the average value of the magnitude of the vibration, and according to the magnitude, increases the gain when the vibration is small and decreases the gain when the vibration is large. The influence of friction is reduced by setting the control force to a large value even while the vibration is small.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an overall system diagram. In the above figure, the same reference numerals as those in FIG. 2 denote the same members, respectively, and the present invention is different from the apparatus in FIG. 2 in that the feedback gains K1, K2, K3, K4
The reason is that the gain of is increased. That is, in FIG.
, So that it can be moved in the horizontal direction, and is driven by a motor 5 via a ball screw 4 to be moved in the horizontal direction. An encoder 6 and a tachometer 7 are installed on the motor shaft, and detect a rotation angle and a rotation speed of the motor. When the rotation angle and rotation speed are detected, the ball screw 4
The relative displacement and relative velocity between the additional mass 2 and the structure 1 can be detected by using the lead length of (1). Further, the displacement and the speed of the structure are measured by the absolute displacement meter 11 and the absolute speedometer 12 attached to the structure, and the vibration damping force is calculated by the formula [1]. Current flowing through the motor 5 is adjusted by the motor control circuit 8, by providing a damping force command signal to the motor control circuit 8, the added mass of the desired damping force 2
The vibration estimating means 9 receives, for example, a structure displacement and a structure speed, and generates vibrations according to the following equation (2) representing mechanical energy of the structure. Evaluate the size of

E = m1 · V2 + k1 · X2 where E: mechanical energy of the structure m1: equivalent mass of the structure k1: equivalent spring constant of the structure Now, by [Equation 2] where although the magnitude of the vibration of the instant of the calculation is always capable of calculating, vibration changes of the gain
If only the mechanical energy E of the structure, which is the magnitude of the motion, is used, the gain will change every moment in accordance with the variation in the magnitude of the vibration. Is not very desirable because it makes So, the structure that is the magnitude of the vibration
To estimate the temporal average value of the kinetic energy E of the by performing slow variation of the gain, the size der vibration
For estimating the temporal average value Em of the mechanical energy E of the structure to be moved, for example, a moving average is calculated or the magnitude of the vibration is calculated.
The mechanical energy E of the structure is calculated by using the value through a suitable low-pass filter. The gain changing means 10 receives the output Em of the vibration estimator 9 and sets a low gain when Em is large and a large gain when Em is small. In this embodiment, an application example is shown for a complete active dynamic damper. However, a similar effect can be obtained for a semi-active dynamic damper having a self-restoring force by a spring or the like between a structure and an additional mass. Becomes possible. The effect of the present invention is that the driving force is reduced when the vibration is small with a damper having friction in the driving unit, so that the control gain is increased when the vibration is small even when the vibration is easily affected. The driving force can be increased, and as a result, a control system that is less affected by friction can be configured.

[0007]

In short, the active dynamics of the present invention
According to the control apparatus of Kkudanpa, a control device of an active dynamic damper performs the damping of the structure by relative displacement with respect to the structure of the mass to be added to the structure by an actuator, the structure a vibration estimating means from the magnitude of the measured value of swing estimate its temporal average values, based on the calculation result of the vibration estimation unit, temporal average value of the measurement value, the action
The control power for damping the dynamic dynamic damper
Exceeds the friction force of the active dynamic damper
When the control force falls below the minimum value, the frictional force of the active dynamic damper is reduced.
Above the active die.
A feedback gain increasing means for increasing the feedback gain in the control for the damping of Na Mick damper, by providing a by the control force between the deflection of the structure is small is too small, the control force overcomes the friction It is possible to obtain an active dynamic damper control device that is not easily affected by friction and is not affected by friction.
The invention is of great industrial value.

[Brief description of the drawings]

FIG. 1 is a control system diagram showing one embodiment of the present invention.

FIG. 2 is a control system diagram showing a conventional active dynamic damper control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Structure 2 Additional mass 3 Wheel 4 Ball screw 5 Motor 6 Encoder 7 Revolution meter 8 Motor control circuit 9 Vibration estimator 10 Gain changing means 11 Absolute displacement meter 12 Absolute speed meter

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) F16F 15/02 E04H 9/02 341 G05D 19/02

Claims (1)

(57) [Claims] 1. An active dynamic damper control device for damping a structure by displacing a mass added to the structure relative to the structure by an actuator, wherein the vibration of the structure is reduced. from the magnitude of the measurement value and the vibration estimation means for estimating the temporal average values, based on the calculation result of the vibration estimation unit, temporal average value of the measurement values, the active dynamic
The control force for damping the damper is
Minimum that can exceed the friction force of the dynamic damper
When below the value of the limit, the active the control force
Increased to exceed the above frictional force of the dynamic damper
To increase the feedback gain in the control for damping the active dynamic damper.
Control device of an active dynamic damper for the feedback gain increasing means to make, comprising the.