JP3190423B2 - Structure damping device - 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 for structures capable of reducing horizontal vibrations by 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 structure vibration damping 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 constant angular velocity, and the frame is supported by an axis in a direction perpendicular to the rotating shaft of the rotating body and in a horizontal direction as a supporting axis. A gyro device for vibration suppression is used which is rotatably supported by a structure via a support base.

In this vibration damping device, for example, when controlling horizontal vibration of a structure, the gyro device for vibration damping 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). Object, and set the direction of the support shaft to X
Assuming that the shaft is an axis, a predetermined moment is generated around the X axis when a rotational deformation at a predetermined angular velocity occurs in the structure and the rotating body due to an external force input from the X axis direction. Due to this moment, a rotational motion (precession) of a predetermined angular velocity is generated around the X axis, that is, around the support axis with respect to the rotating body, and Y
Around the axis, a vibration damping moment proportional to the angular velocity is generated in a direction opposite to the rotational deformation occurring in the structure, and the vibration damping moment is input to the structure via both support bases, and the structure Reduce the rotational deformation occurring in

[0004] The vibration damping moment is generated by following the rotational deformation of the structure that is repeated in the forward and reverse directions, thereby reducing the vibration input to the structure. However, the damping moment generated by the precession of the rotating body of the above-described gyro device for vibration suppression acts as a vertical force (couple) on the structure via the support table, and the vibration damping force is generated. However, the force that constitutes the couple is not always acting on the structure in the vertical direction, and a part of the rotating body is twisted by the inclination angle with respect to the horizontal plane at that time. It becomes a horizontal couple (torsion moment) that causes motion.

In order to eliminate this, in a conventional device, two vibration control gyro devices having half the performance of the above-described vibration control device are installed, and their supporting shafts are made parallel to each other to form a structure. At the same time, the rotating bodies are rotated in opposite directions to each other, and the rotating bodies of both devices generate the same angular velocity in opposite directions to offset the torsional moment, and only the horizontal damping moment is applied to the structure. I am giving it.

[0006] Further, there is one disclosed in JP-A-1-244001. This is a vibration suppression gyro device in which a frame supports a rotating body that rotates at a high speed with a rotation axis being horizontal, and the frame is rotatably supported around a vertical support axis perpendicular to the rotation axis. As a pair of two, the rotary shafts of the rotating bodies of the pair of vibration suppression gyro devices are installed on a structure so that both of them are directed in one horizontal direction, for example, the X-axis direction, in which vibration is to be controlled. A vibration damping moment by the vibrating gyro device is generated such that the component forces of the moment in the Y-axis direction cancel each other, thereby reducing vibration in one horizontal direction input to the structure.

[0007]

However, in the above-mentioned conventional vibration damping device, at least two vibration damping gyro devices are required for damping horizontal vibration in one direction. For this reason, if vibrations generated in an arbitrary horizontal direction are regarded as horizontal vibrations in two directions orthogonal to each other and vibration is to be suppressed, at least four vibration control gyro devices are required, and the vibration control device requires a structure. However, there is a problem that a large exclusive space is required for installation in the area.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to provide a vibration damping device for a structure capable of damping an arbitrary horizontal vibration by a pair of vibration damping gyro devices. I have.

[0009]

In order to achieve the above object, a vibration damping device for a structure according to the present invention comprises a rotating member which rotates at a high speed with a rotating shaft being horizontal. A vibration suppression gyro device rotatably supported around a support shaft is installed on a structure, and the rotating body causes precession around the support shaft, which is generated in proportion to the angular velocity of the precession. In a vibration damping device that reduces vibration of a structure that is generated in the horizontal direction due to a vibration damping moment, two horizontal directions of vibration damping formed in the same horizontal plane and orthogonal to each other are defined as an X axis and a Y axis. Two vibration suppression gyro devices arranged so that the axes of the rotating shafts of the rotating bodies are directed to the X axis and the Y axis, respectively, and the inclination angles of the rotating shafts of the rotating bodies with respect to the X axis or the Y axis. Angle detection means for detecting each rotation, and each rotation And a rotational movement driving means for driving rotation about respective support shafts, the horizontal 2 occurring in the structure
A vibration detecting means for detecting horizontal movement in the direction, the angle detecting means, the rotational movement driving means, and the vibration detecting means,
Based on the signal input from the vibration detecting means, the two horizontal damping moments required to cancel the displacement occurring in the structure are calculated, and the rotation of each rotating body input from the angle detecting means is calculated. Based on the tilt angle of the shaft, calculate the angular velocity to be given to each rotating body in order to generate the above-described calculated vibration damping moment, and drive each rotating body with a rotating torque corresponding to the calculated angular velocity. A controller for supplying a drive command to the rotary drive means.

Further, the controller is connected to the angle detecting means, the rotation driving means, and the vibration detecting means,
The magnitude of each of the vibrations generated in the two horizontal directions is calculated based on the signal input from the vibration detection means, and one of the two horizontal vibrations is compared with the other vibration. If the vibration is predominantly large, the rotation axes of the two rotators are moved through the rotational driving means while referring to the signal from the angle detection means, and the vibration control direction in which the vibration in the two horizontal directions is predominant is large. After the rotational movement, the two horizontal damping moments required to cancel the displacement occurring in the structure are calculated based on the signal input from the vibration detecting means, and the input from the angle detecting means. Based on the tilt angle of the rotating shaft of each rotating body, the angular velocity to be given to each rotating body in order to generate the above-described calculated vibration damping moment is calculated, and the amount of the rotating torque corresponding to the calculated angular velocity is calculated. Turns the drive command to drive each rotating body. May be vibration damping device of a structure and supplying the dynamic driving means.

[0011]

In one vibration control gyro device, when a predetermined torque for rotating around a support shaft is input to a rotating body that rotates at a high speed, the rotating body uses the supporting shaft as a rotating shaft according to the torque. A rotational motion (precession) at a predetermined angular velocity is generated, and a vibration damping moment M is generated in a plane including the support shaft and the rotation axis in proportion to the angular velocity of the precession.

The 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 around the rotating axis of the rotating body This acts as a vertical force (couple) on the structure, and serves as a vibration damping force for reducing displacement caused by vibration generated in the structure.

The damping moment acts on a plane including the rotation axis of the rotating body. In the present invention, the direction of the rotation axis of each rotating body of the pair of vibration suppression gyro devices is
Since the two rotation directions are the horizontal directions, that is, the rotation axis of one rotating body is oriented in the X-axis direction, and the rotation axis of the other rotating body is oriented in the Y-axis direction, a pair of gyro apparatus for vibration suppression is used. One of the damping gyro devices generates a damping moment mainly in the X-axis direction, and the other damping gyro device generates a damping moment mainly in the Y-axis direction. The horizontal displacement generated in the direction is canceled, and the horizontal vibration generated in the structure is reduced.

However, in practice, the rotation axis of each rotating body is inclined by a predetermined angle from the respective vibration damping directions, ie, the X axis or the Y axis, which are previously directed by the angular velocity around the support axis. Therefore, the vibration damping moment M
In a specific vibration damping direction, for example, when the rotation axis of the rotating body whose rotation axis is previously directed to the X axis rotates by θ ₁ from the X axis, the vibration suppression moment becomes As shown in the following equation, the vibration damping moment is divided into an X-axis direction damping moment and a Y-axis direction damping moment.

M _X1 = −Ω ₁ · I · ω · sin θ ₁ M _Y1 = Ω ₁ · I · ω · cos θ ₁ Similarly, a vibration control gyro device in which the rotation axis of the rotating body is oriented in the Y-axis direction in advance. When the rotation axis of the rotating body rotates by θ ₂ from the Y axis, the vibration damping moment is divided into a vibration damping moment in the X axis direction and a vibration damping moment in the Y axis direction as described below. .

M _X2 = −Ω ₂ · I · ω · cos θ ₂ M _Y2 = −Ω ₂ · I · ω · sin θ ₂ Here, Ω _{1 and} Ω ₂ are the support of the vibration suppression gyro device in the rotating body. This is the angular velocity given around the axis. Therefore,
X-axis direction and Y by the pair of vibration suppression gyro devices
The axial damping moment is expressed as the resultant of the damping moments generated by the two gyro devices for damping, as in the following equation.

[0017]

(Equation 1)

From now on,

[0019]

(Equation 2)

It can be expressed as At this time, in the vibration control gyro device used in the present invention, even if the rotating body is rotated around the support shaft, the rotating shaft of each rotating body is always oriented in the horizontal direction, so that a torsional moment is generated. There is no need to provide a process for canceling unnecessary torsional moment.

According to the present invention, based on the above principle, 1
The rotation axes of the respective rotating bodies of the pair of vibration suppression gyro devices are directed to the X axis and the Y axis, respectively. When an external force such as a wind or an earthquake is input to the structure and horizontal movement occurs in the structure, the horizontal movement is detected by vibration detecting means installed on the structure, such as a plurality of speedometers and accelerometers. And a signal corresponding to the detected value is supplied to the controller.

The controller uses the signal to cancel the horizontal displacement currently occurring in the structure at that time.
The angular velocities Ω _{1 and} Ω ₂ around the support shafts to be applied to both rotating bodies for generating the bending moment M _{X in} the axial direction and the bending moment M _Y in the Y-axis direction are obtained from the above equations. here,
The mass rotational inertia moment and the rotational angular velocity of both rotating bodies are set to predetermined values in advance.

The angle detecting means constantly supplies the controller with the vibration damping direction of the rotating shaft of each rotating body, that is, the inclination angle from the X axis or the Y axis. Further, the controller causes the calculated angular velocities to occur,
For rotating the rotating body with each support shaft as the rotation axis,
A drive command for generating a predetermined rotation torque is supplied to the rotation drive unit.

The rotary drive means generates a precession in each of the rotating bodies by rotating each of the rotating bodies at a predetermined torque around the supporting shaft. As a result, the necessary two horizontal damping moments are generated, and the vibration generated in the structure causes
The horizontal displacement at that time is reduced. This is performed with respect to the displacement that occurs repeatedly in the forward and reverse directions due to the vibration to reduce the vibration of the structure.

Further, in the apparatus according to the second aspect, the magnitude of the vibration in the X-axis direction and the magnitude of the vibration in the Y-axis direction generated in the structure based on the signal from the vibration detecting means. If it is determined that the magnitude of one of the vibrations is significantly greater than the other by comparing the magnitude with each other, the support shafts of the respective rotating bodies are each slowly rotated before performing the above-described vibration suppression processing, and the two After the rotation axis of the rotating body is directed to one of the two horizontal directions in which the vibration is suppressed, the above-described vibration suppression control is performed.

As a result, the damping moments generated by the two gyroscopes for vibration suppression have a large damping force in a particular direction in which vibrations of a remarkable magnitude are generated. Bending moment can be reduced with a large damping force.

[0027]

An embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the vibration damping device according to the present embodiment includes a pair of vibration damping gyro devices A and B at a predetermined height, such as the center of the top of a structure 7 or the center of a middle floor. Are arranged at a predetermined interval from each other.

The structure of the gyro units A and B for vibration damping, which are the main parts of the vibration damping device installed on the structure, will be described. As shown in FIG. The body 1 is arranged so that its rotation surface faces left and right, and its rotation shaft 2 extends in the horizontal direction. A frame 3 is arranged so as to cover the rotating body 1 with a predetermined space therebetween, and the left and right ends of the rotating shaft 2 of the rotating body 1 are positioned on the center axis of the frame 3 in the horizontal direction. The left and right portions are rotatably supported via bearings (not shown).

One end of the rotating shaft 2 of the rotating body 1 is connected to a rotating body drive motor 5. The rotating body drive motor 5 has its main body fixed to the frame 3 and serves as rotating body driving means for rotating the rotating body 1 at a high speed. The rotating body driving motor 5 drives the rotating body 1 at a high rotational speed at a constant rotational angular velocity. A pair of support beams 4a and 4b are formed from the upper and lower portions of the frame 3 with the vertical direction in the same vertical plane as the rotary body 1 as the support axis S perpendicular to the rotary shaft 2 of the rotary body 1. Each extends in the direction of its support axis S, that is, upward and downward.

The lower end of the support beam 4a extending downward has
It is connected to the electric motor 6. The electric motor 6
The electric motor 6 is fixed to a structure 7 and drives the rotating body 1 to rotate around the support shaft S. The electric motor 6 is connected to a controller 8 and In response to the supplied command, the frame 3 is driven to rotate around the support shaft S with a predetermined torque, and the rotating body 1 is rotated around the support shaft S (precession) at a predetermined angular velocity Ω according to the torque. ing.

An inclinometer 9 is also attached to the lower end of the same support beam 4a. The inclinometer 9
The angle sensor 9 serves as angle detecting means for detecting the angle of inclination of the rotating shaft 2 of the rotating body 1 with respect to each vibration damping direction, and the inclinometer 9 is connected to the controller 8 to detect the detected inclination angle θ of the rotating body 1. The corresponding signal is constantly supplied to the controller 8.

The support beam 4b extending upward is supported by a support frame 10 via a bearing (not shown) so as to be rotatable with its axis up and down. The support frame 10 is arranged at a predetermined space on the outer peripheral side of the frame 3, and a lower end portion thereof is fixed to the structure 7. And
The pair of vibration suppression gyro devices A and B having the above-described configuration include the electric motor 6 and the inclinometer 9 so that the rotating shaft 2 of the rotating body 1 of the A is directed to the X axis as shown in FIG. On the other hand, the rotating body 1 of the B is disposed on the structure 7 such that the rotating shaft 2 of the rotating body 1 faces the Y axis.

The pair of vibration control gyro devices A,
The two rotating bodies 1 of B have the same mass rotational inertia moment I and are rotating at the same rotational angular velocity ω at high speed. Further, in the X-axis direction orthogonal to the support axis S of both the vibration suppression gyro devices A and B, and at a symmetrical position around the both vibration suppression gyro devices A and B, a pair of speedometers 11 has a structure. A third speedometer 11 is installed in the object 7 and in the Y-axis direction passing through the center position of both the gyro devices A and B for vibration suppression. Are formed. The three speedometers 11 are connected to the controller 8, detect the moving speed of the structure 7 generated by vibration, and supply a signal corresponding to the moving speed to the controller 8. I have.

Based on signals input from the three speedometers 11, the controller 8 controls the X-axis vibration damping moment for canceling the horizontal displacement occurring in the structure 7 at that time. In addition to calculating the magnitude of M _X and the vibration damping moment M _{Y in} the Y-axis direction, a signal corresponding to the inclination angle θ of the rotating body 1 input from the inclinometer 9 from the reference vibration damping direction is always input. Then, from the following formula, the gyro device A for both vibration suppression is used.
Angular velocities Ω _{1 and} Ω ₂ to be generated in the rotating body 1 of 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 electric motor 6.

[0035]

(Equation 3)

In this equation, ω represents the angular velocity of rotation of the rotary body 1 of both gyro apparatus A and B around the rotation axis 2, I represents the mass rotational inertia moment of both rotary bodies 1, , Θ ₁ represent the inclination angle of the rotating shaft 2 of the rotating body 1 from the X axis in one of the vibration suppression gyro devices A,
theta ₂ is at the other vibration damping gyro device B, and represents the tilt angle from the Y axis of the rotary shaft 2 rotating body 1.

In the above-described vibration damping device, as shown in the flow chart of FIG. 3, in a normal state, that is, in a state where an external force exceeding a predetermined value due to wind, earthquake, or the like is not input to the structure 7,
Both rotating bodies 1 input from the inclinometer 9 as the angle detecting means
The rotating body 1 is slowly rotated via the electric motor 6 so that the inclination angle of the rotating body 1 becomes zero so that no vibration damping moment is generated, and the rotating shaft 2 of one of the rotating bodies 1 is oriented in the X-axis direction. The rotating shaft 2 of the other rotating body 1 is oriented in the Y-axis direction (step 1).

The reason for this is that as the inclination angle becomes smaller, most of the damping moments generated by the individual gyro devices A and B can be used as the damping forces in the X-axis direction and the Y-axis direction, respectively. Each rotating body 1 during vibration control
This is to reduce the risk of tilting from each reference vibration suppression direction by 45 degrees or more. If the inclination is 45 degrees or more, the damping force in the reference damping direction becomes small.

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 7, the external force causes horizontal vibration in the structure 7 to bend in the horizontal direction (step 2). Then, the moving speed of the structure 7 at the position where the vibration damping device is installed is measured by the three speedometers 11, and a signal corresponding to the moving speed is supplied from each speedometer 11 to the controller 8. (Step 3).

The controller 8 obtains the moving speed of the structure 7 in the horizontal direction at that time based on the signals input from the three speedometers 11 to cancel the horizontal displacement (vibration). damping moment M _X in the X-axis direction and the Y-axis direction is a horizontal two _directions, M _Y calculates the (step 4), the value is substituted into the above equation both vibration damping gyro device a, B
Calculate the angular velocities Ω _{1 and} Ω ₂ generated in each of the rotating bodies 1 (step 5).

[0041] Here is constant mass rotational moment of inertia I of the rotating body _1, and the rotational angular speed ω is set in advance in the above equation, The slope for each damping direction of the rotary shaft 2 of the rotary body 1 The angles θ _{1 and} θ ₂ are values that are constantly supplied to the controller 8 from the respective inclinometers 9 serving as angle detecting means. Next, the controller 8 individually supplies a drive signal corresponding to the torque corresponding to each of the obtained angular velocities Ω _{1 and} Ω ₂ to each of the electric motors 6.

The electric motor 6 rotates the support beam 4a with a torque corresponding to the supplied drive signal, thereby rotating each frame 3 around its respective support axis S, and via the frame 3 Each rotating body 1 rotates (precesses) at angular velocities Ω _{1 and} Ω ₂ proportional to the respective torques (step 6). Due to this precession, a moment proportional to the angular velocity Ω _1, Ω ₂ given to both the vibration control gyro devices A, B is generated in the direction of the support shaft S, and the vibrations from the respective vibration control gyro devices A, B are vertical force to 7 (couple) is, the damping moment M _X in the two horizontal directions of the X-axis direction or Y axis direction _occurs as M _Y (step 7), by its two horizontal directions of the resultant force In addition, the bending moment generated in the structure 7 at that time due to the external force input to the structure 7 is reduced.

The angular velocities Ω _1, Ω of the two rotating bodies 1 generated above
_In the prior art, control ₂ is performed so that the angular velocities generated in the two rotating bodies 1 are equal to each other so that the ineffective damping force in the orthogonal direction is small and desirably zero. , By actively using the damping force that was disabled,
Any horizontal bending moment generated in the structure 7 at that time is reduced.

In the vibration control gyro device of the present embodiment,
Even if the rotating body 1 rotates around the support shaft S, the rotating shaft 2 of the rotating body 1 is always horizontal, so that no unnecessary torsional moment is generated and no input is made to the structure 7. Then, the above processing is repeated until the vibration generated in the structure 7 becomes equal to or less than the predetermined vibration (step 8), so that the vibration input to the structure 7 is reduced.

When the vibration of the structure 7 becomes equal to or less than the predetermined value by the above processing, the vibration damping processing is stopped, and the rotating bodies 1 are slowly rotated until the inclination angles θ _{1 and} θ ₂ of the rotating shafts 2 of the rotating bodies 1 become zero. 1 is rotated about the support axis S. In the above-described embodiment, the rotating body 1 is rotated around the support axis S by directly rotating the support beam 4a by the electric motor 6, but the rotary drive means is not limited to this. At the lower end of each frame 3, a large gear with an up and down shaft is fixed, the rotating shaft 2 of the gear is rotatably supported with respect to the structure 7, and another gear meshing with the large gear is a drive motor. The rotation driving means may have another known structure, such as rotating the rotating body 1 around the support shaft S by rotating the rotating body 1.

In the above embodiment, the three speedometers 11 are used as the vibration detecting means for measuring the vibration of the structure 7. However, the present invention is not limited to this. For example, an accelerometer or a displacement meter may be used. Alternatively, a combination of other known sensors may be used. In the above embodiment, 2
Although the description has been made with the magnitudes of the mass rotational inertia moment I and the rotational angular velocity ω of the rotating body 1 of the two vibration suppression gyro devices A and B being the same,
The magnitudes of the mass rotational inertia moment I and the rotational angular velocity ω of the rotating body 1 of B need not necessarily be the same value, and may be set to different values.

Although the electric motor 6 is used as the rotary drive means for directly applying a torque to the support shaft S, the present invention is not limited to this, and other mechanisms such as a hydraulic mechanism may be used. Good. Next, a vibration damping device according to a second embodiment will be described. The controller 8 of this vibration damping device
First, based on the signals from the three speedometers 11 as the vibration detecting means, the magnitude of the vibration generated in the structure 7 in the X-axis direction and the Y-axis direction which are the two horizontal directions as the vibration damping directions. The vibrations in the two directions are compared, and when the ratio of the magnitudes of the vibrations in the two directions is equal to or more than a predetermined value, for example, when the magnitude of one of the vibrations is three times or more of the other, Is determined to be outstandingly large. When the controller 8 determines that the vibration in one direction, for example, the X-axis direction is significantly larger than the vibration in the Y-axis direction, the controller 8 measures the current tilt angles θ _{1 and} θ ₂ with the inclinometer 9. As shown in FIG. 4, after rotating each frame 3 slowly through the electric motor 6 to turn both the rotating shafts 2 of the rotating bodies 1 of both the vibration suppression gyro apparatus A and B in the X-axis direction, Based on the signals input from the three speedometers 11, the controller 8 controls the X-axis damping moment M _X for canceling the horizontal displacement occurring in the structure 7 at that time, and In addition to calculating the magnitude of the damping moment M _{Y in} the Y-axis direction, the inclinometer 9
Angular velocities Ω _1, which are generated in the rotating bodies 1 of the two gyroscopic devices A and B by inputting a signal corresponding to the inclination angle θ of the rotating shaft 2 of each rotating body 1 with respect to the reference vibration damping direction _. Ω ₂ is obtained, and a drive signal for generating a rotational torque according to the angular velocity Ω _1, Ω ₂ is supplied to each electric motor 6.

The other structure is the same as that of the first embodiment. In the above-described vibration damping device, as shown in the flow chart of FIG. 5, in a normal state, that is, in a state where a predetermined or more external force due to a wind, an earthquake, or the like is not input to the structure 7, the inclination detecting means as the angle detecting means is used. The rotating body 1 is slowly rotated via the electric motor 6 so that an unnecessary vibration damping moment is not generated so that the inclination angle of the rotating shafts 2 of the two rotating bodies 1 inputted from the total 9 becomes zero. The rotating shaft 2 of one rotating body 1 is oriented in the X-axis direction, and the rotating shaft 2 of the other rotating body 1 is oriented in the Y-axis direction (step 11).

The reason for this is that, as the inclination angle is smaller, most of the damping moments generated by the individual damping gyro devices can be used as X-axis and Y-axis damping, respectively. This is to reduce the risk of inclining from the damping direction of 45 degrees or more. 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 7, the external force generates horizontal vibration that causes horizontal deformation in the structure 7 (step 1).
2). Then, the moving speed of the structure 7 at the position where the vibration damping device is installed is measured by the three speedometers 11, and a signal corresponding to the moving speed is supplied from each speedometer 11 to the controller 8. (Step 13).

The controller 8 determines the horizontal moving speed at that time based on the signals input from the three speedometers 11, and determines the magnitude of the X-axis vibration generated with respect to the structure 7. Is compared with the magnitude of the vibration in the Y-axis direction to check whether or not the magnitude of one vibration is three times or more the magnitude of the other (step 14). Next, when the controller 8 determines that the magnitude of the one vibration is larger than the other vibration by a predetermined amount or more, the controller 8 detects the inclination angle of the rotating shaft 2 of each rotating body 1 based on a signal from each inclinometer 9. The axes of the rotating shafts 2 of the two rotating bodies 1 are slowly rotated until they become parallel to the X-axis or the Y-axis with large vibration (step 15).

Next, the controller 8 calculates the damping moments in the X-axis direction and the Y-axis direction for canceling the above-mentioned displacement (step 16), and based on the calculated values, the gyro apparatus for both damping. Angular velocity Ω generated in each of the rotating bodies 1 of A and B
_1, Ω ₂ is calculated (step 17). Wherein the rotating body 1 of the mass rotating inertia moment I in the above _equation, and the rotational angular speed ω is a constant value that is set in advance, also the inclination angle θ for each damping direction of the rotary shaft 2 of the rotary body 1 _1,
theta ₂ is at all times from each inclinometer 9 is an angle detecting unit is a value which is supplied to the controller 8.

Next, the controller 8 determines the above
Each angular velocity Ω_1,Ω_TwoDrive signal according to torque corresponding to
Are supplied to each electric motor 6 individually.
The electric motor 6 is driven by a torque corresponding to the supplied drive signal.
Each support frame 4a is driven to rotate by
3 is rotated around each support axis S, and the frame
3, each rotating body 1 is proportional to the respective torque.
Different angular velocity Ω _1,Ω_TwoTo rotate (precession)
18).

Due to this precession, a moment proportional to the angular velocity Ω _1, Ω ₂ given to both the vibration control gyro devices A, B is generated in the direction of the support shaft S, and the respective vibration control gyro devices A, B Vertical force (couple) on structure 7 from B
Are generated as respective damping moments in two horizontal directions in the X-axis direction or the Y-axis direction (step 1).
9) Due to the resultant force in the two horizontal directions, the bending moment generated in the structure 7 at that time due to the external force input to the structure 7 is reduced.

At this time, when both the rotating shafts 2 of the rotating bodies 1 are oriented in the same direction, the magnitudes of the vibrations generated in the two horizontal directions are compared (step 20). When it is detected that the ratios have reached a predetermined value, for example, the same size, the rotating shafts 2 of the respective rotating bodies 1 are slowly rotated and moved to the initial position, that is, the rotating shaft 2 of the rotating body 1 on the X-axis. The rotation axis 2 of the other rotating body 1 is returned in the Y-axis direction (step 21), and the above processing is continued.

The above-described processing is repeated until the deformation moment generated in the structure 7 becomes equal to or less than the predetermined vibration (step 22), so that the vibration input to the structure 7 is reduced. . In this embodiment, most of the vibration damping moments of the two rotators 1 are set in the X-axis direction by damping the rotary shafts 2 of the two rotators 1 in the vibration damping direction in which the vibration is predominantly large, for example, in the X-axis direction. Acting in the direction, it is possible to increase the damping force against vibration in the X-axis direction.

When the horizontal vibration generated in the structure 7 is reduced to a predetermined value or less, the rotating shaft 2 of each rotating body 1 is slowly rotated to the initial position and returned to standby. In the above description, the case where the vibration in the X-axis direction is predominantly large has been described. However, if the vibration in the Y-axis direction is predominantly large,
The rotation shafts 2 of both rotating bodies 1 are directed in the Y-axis direction, and the vibration in the Y-axis direction is mainly controlled.

[0057]

As described above, in the structure vibration damping device of the present invention, only a pair of vibration damping gyro devices is used.
It is possible to simultaneously control vibrations in two horizontal directions without generating an unnecessary twisting moment. For this reason,
Since only two vibration suppression gyro devices conventionally required at least four are required, the number of vibration suppression gyro devices for generating a vibration suppression moment is reduced, and the vibration suppression device required for installation on a structure is reduced. The effect that the space occupied can be reduced is obtained.

Further, the rotating shaft 2 of both rotating bodies 1 can be used without generating an unnecessary twisting moment about the vertical direction.
Is directed in the vibration damping direction in which the vibration is large, the horizontal vibration damping in which the vibration is large can be performed with twice the vibration damping force.

[Brief description of the drawings]

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

FIG. 2 is a side view showing the gyro device for vibration damping of the embodiment according to the present invention.

FIG. 3 is a diagram illustrating a processing flow of the vibration damping device according to the embodiment of the present invention.

FIG. 4 is a conceptual diagram showing a second embodiment according to the present invention.

FIG. 5 is a diagram showing a processing flow of a vibration damping device according to a second embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Rotating body 2 Rotating shaft 3 Frame 4a, 4b Support beam 6 Electric motor 7 Structure 8 Controller 9 Inclinometer 11 Speedometer A, B Gyro device for vibration suppression S Support shaft

Continuation of front page (56) References JP-A-2-96064 (JP, A) JP-A-3-122377 (JP, A) JP-A-3-125766 (JP, A) (58) Fields studied (Int .Cl. ⁷ , DB name) E04H 9/02 341 F16F 15/02

Claims (2)

(57) [Claims] A gyro device for vibration suppression, in which a rotating body that rotates at a high speed with a rotating shaft horizontal and is rotatably supported about a vertical support axis perpendicular to the rotating shaft is installed on a structure. In the vibration damping device, the precession around the support axis is caused in the rotating body, and the vibration of the structure that is generated in the horizontal direction is reduced by the vibration suppression moment generated in proportion to the angular velocity of the precession. The two horizontal directions for damping, which are formed orthogonally to each other on the same horizontal plane, are arranged such that the axes of the rotation axes of the rotating bodies are oriented to the X axis and the Y axis, respectively, with the X axis and the Y axis being 2 A base gyro device for vibration suppression,
Angle detecting means for detecting the inclination angle of the rotation axis of each rotating body with respect to the X axis or Y axis, rotating driving means for rotating each rotating body about the support axis, and Vibration detecting means for detecting the horizontal movement in the two horizontal directions, and the angle detecting means, the rotation driving means, and the vibration detecting means, and connecting to the structure based on the signal inputted from the vibration detecting means. The vibration damping moments in the two horizontal directions required to cancel the generated displacement are calculated, and the vibration damping moments calculated above are calculated based on the inclination angles of the rotating shafts of the rotating bodies input from the angle detecting means. Calculate the angular velocity to be given to each rotating body in order to generate
And a controller for supplying a drive command for driving each rotating body to a rotary drive unit with a rotation torque of an amount corresponding to the calculated angular velocity. 2. The magnitude of each of the vibrations generated in the two horizontal directions based on a signal input from the vibration detecting means, connected to the angle detecting means, the rotary driving means, and the vibration detecting means. When one of the two vibrations in the horizontal direction is significantly larger than the other vibration, the rotation driving unit refers to the signal from the angle detection unit, After rotating the rotating shafts of both rotating bodies in the vibration damping direction in which the vibration in the two horizontal directions is predominantly large, the displacement generated in the structure based on the signal input from the vibration detecting means. To calculate the respective damping moments in the two horizontal directions required to cancel the vibrations, and to generate the above-described calculated damping moments based on the inclination angles of the rotating shafts of the respective rotating bodies input from the angle detecting means. Calculate the angular velocity to be given to each rotating body, 2. The structural vibration damping device according to claim 1, further comprising a controller that supplies a driving command for driving each rotating body to the rotary drive unit with a rotation torque of an amount corresponding to the calculated angular velocity.