JP5234606B2 - Active vibration suppression performance evaluation system and program - Google Patents

Description

The present invention relates to an active vibration suppression performance evaluation system and program, and in particular, a system for evaluating vibration suppression performance of an active vibration suppression device that actively vibrates a vibration suppression target in accordance with vibration of the vibration suppression target and suppresses the vibration, and Regarding the program.

Conventionally, for example, an active vibration damping device 1 as shown in FIG. 6A has been used to suppress vibrations of building structures, mechanical structures, and the like that are subject to earthquake, wind, and other vibration disturbances. The active vibration damping device 1 in the illustrated example includes a sensor (accelerometer or the like) 2 that detects vibration of the vibration target 9, an actuator (vibrator or the like) 3 that vibrates the vibration target 9, and a detection signal of the sensor 2. And a vibration suppression control system (controller) 5 that controls the operation of the actuator 3 based on the above, and actively drives the actuator 3 according to the detection signal of the sensor 2 to suppress the vibration of the vibration suppression target 9. The illustrated example shows an additional mass type active dynamic damper (AMD) that vibrates the additional mass 4 that is relatively movably mounted on the vibration control target 9 by the actuator 3. In addition, a direct acting type that directly vibrates the vibration suppression object 9 with an actuator 3 (piezoelectric conversion element or the like) installed near the base of the vibration suppression object 9 (see Patent Document 1), a beam of the vibration suppression object 9 The bending moment of the beam is controlled by the vibration of the piezoelectric actuator 3 incorporated in the part (see Non-Patent Documents 1 and 2), and the force transmission means arranged along the beam of the vibration control target 9 is excited by the actuator 3. Various types of active vibration control devices 1 have been developed, such as those to be performed (see Patent Document 2).

As shown in FIG. 6A, the vibration suppression control system 5 of the active vibration suppression device 1 is generally an analog / digital converter (AD converter) 6 that inputs an analog detection signal of the sensor 2 and converts it into a digital signal. And a control system 10 such as a computer that outputs a digital control signal (command signal) to the actuator 3 based on the digital signal, and a digital / analog converter (DA conversion) that converts the digital control signal into an analog signal and outputs it to the actuator 3 7). The control system 10 of the vibration suppression control system 5 includes a vibration characteristic Gf (s) of the vibration suppression target 9, a vibration characteristic Ga (s) of the actuator 3, and a vibration characteristic Gs ( s) and is implemented in a computer as a program K (s) including control parameters (hereinafter also referred to as active vibration suppression control means or a program). As described above, various types of active vibration damping devices 1 have been developed. Active active vibration damping devices 1 are designed according to the vibration damping target characteristics Gf (s), the actuator characteristics Ga (s), and the center characteristics Gs (s). The fundamental configuration of the vibration damping control means K (s) is the same. Various control theories and algorithms for application to such an active vibration suppression control program have been proposed (see Patent Documents 3 to 5). For example, optimal feedback control theory (see Non-Patent Document 3), H∞ control A robust control method such as a theory (see Non-Patent Document 4) is generally used.

Masanori Ando et al. “Control of vertical vibration of steel buildings using piezo actuators” Abstracts of Annual Conference of Architectural Institute of Japan (Hokuriku), August 2002, pp301-302 Toshiyuki Kaminaga et al. “Control of vertical vibration of steel buildings with piezo actuators, Part 2” Summary of the Annual Conference of the Architectural Institute of Japan (Tokai), September 2003, pp 289-290 Masami Masuna, “System Control” Corona, first published in November 1987, p187-189 System Control Information Society, “Control System Design-H∞ Control and its Applications”, Asakura Shoten, June 1994, first edition, p11-12 JP 2003-221807 A JP-A-5-018136 Japanese Patent No. 2732681 JP 09-049544 A Japanese Patent Laid-Open No. 06-106946

The vibration damping performance of the active vibration damping device 1 as shown in FIG. 6A is analytically and roughly evaluated using a computer based on the vibration characteristic Gf (s) of the vibration damping object 9 shown in the design drawing or the like. However, it is necessary to evaluate the vibration characteristics of the vibration suppression target 9 including the higher-order mode based on the field measurement result applied to the actual vibration suppression target 9. In general, the active vibration control device 1 performs vibration control by reducing vibration transmission by adding damping to the vibration control object 9, and the vibration suppression performance of the active vibration control device 1 is the vibration transmission of the vibration control object 9. It can be evaluated as an index whether or not it has been reduced. Conventionally, as a method of measuring the vibration control performance of the active vibration control device 1 on site, another vibration exciter is installed on the vibration control target 9 together with the active vibration control device 1, and the vibration control target 9 is set with the other vibration control device. A method of measuring the vibration waveform of the vibration suppression target 9 at the time of stopping and starting the active vibration damping device 1 while vibrating, and comparing the vibration waveform at the time of stopping with the vibration waveform at the time of starting (other methods) Exciter use type) has been implemented. However, the evaluation method using the vibration exciter in addition to the active vibration damping device 1 as described above has a problem that it takes cost and trouble to install the other vibration exciter.

On the other hand, only the active vibration control device 1 is installed on the vibration control target 9, and the active vibration control device 1 is first driven to stop the vibration control device 1 when the vibration of the vibration control target 9 has grown to some extent. The vibration waveform of the object 9 is measured, and then when the vibration of the vibration suppression object 9 has grown to some extent, the control system 10 of the vibration suppression device 1 is activated to measure the vibration waveform of the vibration suppression object 9, and when stopped (not controlled) A vibration waveform at the time of start-up (control) and a method of evaluating by comparing the vibration waveform at the time of control (during control) (other shaker-free type) have also been implemented. However, although this evaluation method has the advantage of not requiring another vibration exciter, the vibration control object 9 whose vibration mode (frequency and mode shape) is different between when the active vibration control device 1 is stopped and when it is started. There is a problem that the vibration control performance cannot be accurately evaluated.

For example, when the vibration control target 9 is a four-mass point vibration system, as shown in FIG. 7, the vibration mode shape (and each mass point) is changed between when the active vibration control device 1 is stopped (during non-control) and when it is started (during control). If there is a difference in phase difference), there will be multiple higher-order modes from the time of control even if vibration is applied in a single mode during non-control. The vibration waveform during non-control and the vibration during control Since the comparison conditions are not the same for the waveform, it is not possible to accurately evaluate the damping performance. In addition, since the other vibration-exclusion-type evaluation method evaluates the damping performance based on the difference in the vibration damping waveform of the damping target 9 (for example, the difference in the damping ratio), the frequency characteristics of the damping performance are It is difficult to grasp the whole picture, and there is a problem that an accurate vibration damping performance evaluation cannot be expected. It is desired to develop a method that can accurately evaluate the active vibration suppression performance for the vibration suppression target 9 whose vibration mode shape is different between when the vibration suppression device is stopped and when it is started, without using any other vibration exciter. Yes.

Accordingly, an object of the present invention is to provide an active vibration suppression performance evaluation system and program capable of accurately evaluating the vibration suppression performance of a vibration suppression target without being affected by the difference in vibration modes.

Referring to the embodiment of FIG. 1, the active vibration suppression performance evaluation system according to the present invention corresponds to a sensor 2 that detects vibration of a vibration suppression object 9, an actuator 3 that vibrates the vibration suppression object, and a detection signal of the sensor 2. In the system for evaluating the damping performance of the damping device 1 having the active damping control means 11 that outputs the vibration suppression signal of the vibration suppression target 9 to the actuator 3, the control means 11 and the actuator 3 Connected between the disturbance signal superimposing means 21 for superimposing the disturbance signal (for example, a sine wave signal of a predetermined amplitude) Aif on the output excitation signal of the control means 11 while sweeping the frequency, and connected between the control means 11 and the sensor 2 to disturbance signal Aif frequency-amplitude ratio of the sensor detection signal Aof for Arf (= Aof / Aif) amplitude ratio detecting means 23 for detecting a detected frequency-amplitude ratio Arf and Se Storage means 25 for storing a frequency-vibration transmission characteristics Gaf of frequency-vibration transmission Sa 2 Characteristics Gsf and the actuator 3, and stop control means 11 connected to the control unit 11 or activated so while the sensor detection to the disturbance signal Aif The frequency-specific vibration transmission rate Gff (= Arf / (Gsf · Gaf)) of the vibration control target 9 is calculated from the frequency-specific amplitude ratio Arf of the signal Aof and the frequency-dependent vibration transfer characteristics Gsf and Gaf of the sensor 2 and the actuator 3. Evaluation means 22 for evaluating the vibration control performance of the control means 11 based on the difference (for example, the peak ratio or area ratio) between the frequency-specific vibration transmissibility Gffn when the control means 11 is stopped and the frequency-specific vibration transmissibility Gffc at the time of activation. Is provided.

Further, referring to the block diagram of FIG. 1 and the flowchart of FIG. 2, the active vibration suppression performance evaluation program according to the present invention adds the vibration suppression target 9 according to the detection signal of the sensor 2 that detects the vibration of the vibration suppression target 9. In order to evaluate the damping performance of the program that causes the computer 10 to function as the active damping control means 11 that outputs the vibration suppression signal of the damping target 9 to the actuator 3 to be shaken, the computer 10 is controlled by the control means 11. A disturbance signal superimposing means 21 for superimposing a disturbance signal (for example, a sine wave signal of a predetermined amplitude) Aif on the output excitation signal of frequency, and an amplitude ratio Arf (= Aof / Aif) of the sensor detection signal Aof with respect to the disturbance signal Aif amplitude ratio detecting device 23 for) for detecting a frequency-vibration transmission of the detected frequency-amplitude ratio Arf and sensor 2 characteristics Gsf and actuator Third storage means 25 for storing a frequency-vibration transmission characteristics Gaf, and control means 11 to stop or start the allowed while frequency-oscillation of the disturbance signal Aif sensor detection signal frequency-amplitude ratio of Aof Arf and sensor 2 and an actuator 3 for The frequency-dependent vibration transmissibility Gff (= Arf / (Gsf · Gaf)) of the vibration control target 9 is calculated from the transfer characteristics Gsf and Gaf, and the frequency-specific vibration transmissibility Gffn when the control means 11 is stopped and the frequency at the start-up. It is made to function as the evaluation means 22 for evaluating the vibration control performance of the control means 11 based on the difference (for example, the peak ratio or the area ratio between the two) from the separate vibration transmissibility Gffc .

Preferably, as shown in FIG. 1, when the control unit 11 is stopped by the evaluation unit 25 and the excitation force measuring device 32 attached to the actuator 3, the measurement signal Amf of the excitation force measuring device 32 with respect to the disturbance signal Aif is input and Actuator characteristic identifying means 31 for detecting the frequency-specific vibration transfer characteristic Gaf (= Aqf) of the actuator 3 from the amplitude ratio Aqf (= Amf / Aif) of the measurement signal Amf with respect to the disturbance signal Aif and setting it in the storage means 11 include.

As shown in FIG. 6, when the actuator 3 includes the additional mass 4 attached to the object to be controlled so as to be relatively movable, and the excitation force measuring device 32 is an accelerometer attached on the additional mass 4. The storage means 11 stores the magnitude ms of the additional mass 4 and the gain kms of the accelerometer 32. The actuator characteristic identification means 31 stores the amplitude ratio Aqf for each frequency of the measurement signal Amf of the accelerometer 32 with respect to the disturbance signal Aif (= From the Amf / Aif), the size ms of the additional mass 4 and the gain kms of the accelerometer 32, the vibration transfer characteristic Gaf (= (Aqf · ms) / kms) of the actuator 3 can be detected.

The active vibration suppression performance evaluation system and program according to the present invention uses the disturbance signal superimposing means 21 to output the disturbance signal Aif to the output excitation signal of the control means 11 while the active vibration suppression control means 11 is stopped or activated by the evaluation means 22. Superimposing while sweeping and outputting to the actuator 3, the amplitude ratio detection means 23 detects the frequency ratio amplitude ratio Arf (= Aof / Aif) of the sensor detection signal Aof with respect to the disturbance signal Aif and stores it in the storage means 25 for evaluation. By means 22, the frequency-dependent vibration transmission rate Gff (= Arf / () of the object 9 to be controlled is calculated from the frequency-specific amplitude ratio Arf of the sensor detection signal Aof to the disturbance signal Aif and the frequency-dependent vibration transfer characteristics Gsf and Gaf of the sensor 2 and actuator 3. gsf · Gaf)) frequency-vibration transmissibility when stopping the calculation and controlling means 11 Since evaluating the damping performance of the control unit 11 based on the difference between the frequency-vibration transmissibility Gffc of ffn the startup offers the following advantageous effects.

(A) Since the vibration suppression target 9 is vibrated by superimposing the disturbance signal Aif on the vibration signal from the active vibration suppression control means 11 to the actuator 3, the amplitude for each frequency when the control means 11 is stopped (not controlled) The ratio Arfn and the frequency-specific amplitude ratio Arfc at the time of start (control) can be detected under the same vibration condition (vibration state of the vibration control object 9), and vibration suppression performance evaluation caused by the difference in vibration conditions Can be avoided.
(B) Since the frequency-dependent amplitude ratio Arfn at the time of activation of the vibration control means 11 is detected while the vibration target 9 is vibrated by the same actuator 3 as the frequency-specific amplitude ratio Arfc at the time of stop, the frequency at the time of activation / stop Different amplitude ratios (frequency characteristics) can be detected under the same conditions, and the damping performance can be accurately evaluated without being affected by the difference in the vibration mode at the time of start and stop.
(C) Further, the frequency-specific amplitude ratios Arfn and Arfc are detected while sweeping the frequency of the disturbance signal Aif in a desired range, and the difference between the frequency-specific amplitude ratios Arfn and Arfc (frequency characteristics of the damping performance) ), It is possible to evaluate the damping performance based on a wide range of frequency characteristics.
(D) Further, based on the frequency-specific vibration transfer characteristic Gsf of the sensor 2 and the frequency-specific vibration transfer characteristic Gaf of the actuator 3, the frequency-specific amplitude ratio Arf is converted into the frequency-specific vibration transfer rate Gff of the damping object 9, and control means By evaluating the vibration control performance of the control means 11 based on the difference between the vibration transmission rate Gffn for each frequency at the time of stopping 11 and the vibration transmission rate Gffc for each frequency at the time of startup, a more accurate vibration control performance evaluation for the vibration control target 9 is performed. Is possible.
(E) It is not necessary to use another vibration exciter, and the vibration control performance evaluation of the vibration control device 1 with respect to the vibration control target 9 can be performed easily and automatically by installing it as a program in the control system 10 of the active vibration control device 1. Therefore, it can contribute to a significant reduction in cost and time for performance evaluation.

FIG. 1 shows a block diagram of an embodiment in which an active vibration suppression performance evaluation system 20 of the present invention is incorporated in a control system 10 of a vibration suppression control system 5 of an active vibration suppression device 1. The active damping device 1 in the illustrated example includes an AD converter 6 that is connected to a sensor 2 that detects vibration of a vibration suppression target 9, a DA converter 7 that is connected to an actuator 3 that vibrates the vibration suppression target 9, and an active And a control system 10 having a built-in vibration suppression control means 11. In the illustrated example, the control system 10 is a computer, and the active vibration suppression control means 11 is a built-in program of the computer 10. A vibration detection signal (sensor signal) of the vibration suppression target 9 by the sensor 2 is input to the computer 10 via the AD converter 6, and the detection signal is converted into an excitation signal (control signal) in the active vibration suppression control program 11 of the computer 10. The vibration of the vibration suppression target 9 is suppressed by converting and outputting the converted excitation signal to the actuator 3 via the DA converter 7.

The vibration suppression control means 11 of the active vibration suppression device 1 is designed according to the vibration characteristic Gf (s) of the vibration suppression object 9 as described above, but the vibration characteristic Gf ( It is necessary to evaluate and adjust the damping performance according to s). The active vibration suppression performance evaluation system 20 in the illustrated example uses the vibration transmission performance of the vibration suppression object 11 to be applied (the vibration transmission rate of the sensor 2 with respect to the vibration force of the actuator 3). The reduction of the detection signal ratio) is evaluated as an index. The evaluation unit 22 connected to the vibration suppression control unit 11 and the signal combination point 13 between the vibration suppression control unit 11 of the control system 10 and the actuator 3 are used. The disturbance signal superimposing means 21 connected to the signal, the amplitude ratio detecting means 23 connected to the signal branching point 12 between the control means 11 and the sensor 2, and the storage means 25.

The active vibration suppression performance evaluation system 20 in the illustrated example stops and starts the vibration suppression control unit 11 of the active vibration suppression device 1 by the evaluation unit 22 and then sweeps the frequency f by the disturbance signal superimposing unit 21 while having a predetermined amplitude. The disturbance signal Aif (for example, a sine wave signal) is generated, and the disturbance signal Aif is added to the signal combination point 13 between the vibration suppression control means 11 and the actuator 3. When the vibration suppression control means 11 is stopped, a disturbance signal Aif is output to the actuator 3 to vibrate the vibration suppression object 9, but when the vibration suppression control means 11 is activated, the disturbance signal Aif is added to the vibration signal (control signal). The vibration suppression control is performed while exciting the vibration suppression target 9 in the same manner as when stopped, being superimposed and output to the actuator 3. After that, the vibration detection signal Aof of the vibration suppression target 9 by the sensor 2 is input to the amplitude ratio detection means 23 from the signal branch point 12 between the vibration suppression control means 11 and the sensor 2, and the sensor detection signal Aof with respect to the disturbance signal Aif The amplitude ratio Arf (= Aof / Aif) is detected for each frequency f, and the detected amplitude ratio Arf for each frequency f is stored in the storage means 25. By repeating the detection of the amplitude ratio Arf while sweeping the frequency f of the disturbance signal Aif when the vibration suppression control means 11 is stopped and started, the frequency characteristic of the amplitude ratio Arf at the time of stop (amplitude ratio Arfn for each frequency f) And frequency characteristics of the amplitude ratio Arf at the time of activation (amplitude ratio Arfc for each frequency f) can be detected.

The amplitude ratio Arf of the sensor detection signal Aof to the disturbance signal Aif includes not only the vibration transmission rate Gff of the vibration suppression target 9 but also the vibration transmission characteristic Gsf of the sensor 2 and the vibration transmission of the actuator 3 as shown in the equation (1). The characteristic Gaf is reflected. However, if the vibration transfer characteristics Gsf and Gaf of the sensor 2 and the actuator 3 are substantially constant (flat) within the range of the sweep frequency f, a change in the vibration transfer rate Gff of the vibration control target 9 can be grasped from the amplitude ratio Arf. For example, the frequency-dependent amplitude ratio Arfn at the time of stop stored in the storage means 25 in the evaluation means 22 of the illustrated example is compared with the frequency-specific amplitude ratio Arfc at the time of startup, and the difference in the peak ratio or area ratio between the two in a predetermined frequency range. It is evaluated how much the vibration transmissibility of the vibration suppression target 9 can be reduced by applying the active vibration suppression device 1.
Arf = Aof / Aif = Gaf / Gff / Gsf (1)

Preferably, the vibration transfer characteristic Gsf for each frequency f of the sensor 2 of the active vibration damping device 1 and the vibration transfer characteristic Gaf for each frequency of the actuator 3 are stored in the storage means 25. If the vibration transfer characteristics Gsf and Gaf of the sensor 2 and the actuator 3 are grasped in advance, the vibration transmission of the object 9 to be controlled from the amplitude ratios Arfn and Arfc based on the equation (1) in the amplitude ratio detection means 23 of the performance evaluation system 20. The ratios Gffn and Grfc are calculated for each frequency f, and the evaluation means 22 controls the vibration of the control means 11 according to the difference between the vibration transmission ratio Gffn for each frequency when the vibration suppression control means 11 is stopped and the vibration transmission ratio Gffc for each frequency at the time of start. Performance can be accurately evaluated. However, the vibration transfer characteristic Gsf of the sensor 2 is often flat within the range of the sweep frequency f, and in that case, the vibration transfer characteristic Gsf may be a constant value. The frequency-dependent vibration transfer characteristic Gaf of the actuator 3 may be set based on specifications or the like. Further, as shown in the illustrated example, the active vibration suppression performance evaluation system 20 includes an actuator characteristic identification unit 31 for identifying the vibration transfer characteristic Gaf for each frequency of the actuator 3, and the characteristic identification unit 31 identifies the vibration transfer characteristic Gaf for each frequency. It is also possible to set in the storage means 25. An example of the actuator characteristic identification unit 31 is also a built-in program of the computer 10, and details of its operation will be described later.

In the illustrated example, the superimposing means 21, the evaluating means 22, and the detecting means 23 of the active vibration suppression performance evaluation system 20 are each a built-in program of the computer 10, and the storage means 25 is a primary or secondary storage device such as a memory of the computer 10. . By incorporating the performance evaluation system 20 into the control system 10 of the active vibration damping device 1 together with the vibration damping control means 11, the vibration damping control for the vibration damping target 9 can be performed simply by installing the active vibration damping device 1 on the vibration damping target 9. It becomes possible to automatically evaluate the damping performance of the means 11. However, the vibration damping performance evaluation system 20 of the present invention is not an indispensable condition for being incorporated in the control system 10 of the vibration damping control device 1, and can be connected to the control system 10 of the vibration damping control device 1 but independently. It is also possible to use a system that has

FIG. 2 shows a flowchart of the evaluation process by the active vibration suppression performance evaluation system 20 implemented as a program of the computer 10 as shown in FIG. First, in step S101, the vibration damping control unit 11 of the active vibration damping device 1 is stopped, for example, by the evaluation unit 22 of the performance evaluation system 20, and then in step S102, the frequency f of the disturbance signal Aif is set to the initial value fi (for example, 0.1 Hz). ). Such an initial value fi can be determined in advance and stored in the storage means 25. In step S103, the frequency f is input from the evaluation unit 22 to the disturbance signal superimposing unit 21 to generate a sine wave disturbance signal Aif having a predetermined amplitude, and an output excitation signal (in this case, excitation signal = The disturbance signal Aif is superimposed on 0) and output to the actuator 3. In steps S104 to S105, after waiting for the vibration of the vibration suppression target 9 (vibration detection signal from the sensor 2) generated by the output disturbance signal Aif to reach a steady state, the amplitude ratio detection means 23 of the performance evaluation system 20 receives the sensor. The vibration detection signal Aof of 2 is input and the amplitude ratio Arf (= Aof / Aif) of the detection signal Aof with respect to the disturbance signal Aif is detected. For example, in step S104, the amplitude ratio detecting means 23 is kept on standby for a predetermined time (eg, n times the period of the disturbance signal Ai) or until the amplitude fluctuation of the detection signal Aof of the sensor 2 becomes a certain value. It is possible to make it

The amplitude ratio detection means 23 stores the amplitude ratio Arf detected in step S107 in the storage means 25 and then notifies the evaluation means 22 that the amplitude ratio Arf of the frequency f has been recorded. In step S108, the evaluation means 22 checks whether or not all the amplitude ratios Arf of the frequency f in the set range have been stored. If all have not been completed, the evaluation means 22 sets the frequency f of the disturbance signal Aif to a predetermined step value Δf (step S109). For example, after changing by a step value of 0.001 Hz, the process returns to step S103, and the above-described cycle of steps S103 to S107 is repeated. Such a step value Δf can also be determined and stored in the storage means 25 in advance. For example, by repeating the detection of the amplitude ratio Arf until the set frequency fmax is reached while increasing the frequency f of the disturbance signal Aif by a predetermined increment Δf, the amplitude-specific amplitude ratio Arfn when the vibration suppression control means 11 is stopped in step S110. To detect.

Preferably, the vibration transfer characteristic Gsf for each frequency f of the sensor 2 and the vibration transfer characteristic Gaf for each frequency f of the actuator 3 are stored in advance in the storage means 25 (for example, in step S101 or earlier) and stored in step S106. The frequency-specific vibration transfer characteristics Gsf and Gaf stored in the means 25 are read into the amplitude ratio detecting means 23, and the amplitude ratio Arf is calculated based on the equation (1) as the vibration transfer rate Gff (= Arf / (Gsf · Gaf) of the object 9 to be controlled. ), And the converted vibration transmissibility Gff is stored in the storage means 25 (step S107). By storing the vibration transfer rate Gff for each frequency f and repeating the above-described cycle of steps S103 to S107, the vibration transfer rate Gffn for each frequency of the vibration suppression target 9 when the vibration suppression control unit 11 is stopped is detected in step S110. (See FIG. 5).

Next, the active vibration suppression performance evaluation system 20 activates the vibration suppression control unit 11 of the active vibration suppression device 1 in step S101 and executes the flowchart of FIG. The amplitude ratio Arfc (and the frequency-specific vibration transmission rate Gffc of the vibration suppression target 9) is detected (see FIG. 5). In this case, the vibration control signal is output from the vibration suppression control means 11. In step S103, the sine wave disturbance signal Aif is superimposed on the vibration signal and output to the actuator 3, thereby performing vibration control. As in the case of the stop, it is possible to create a state in which the vibration suppression target 9 is constantly vibrated, and the detection of the amplitude ratio Arf in step S105 (and the vibration in step S106) while changing the frequency f of the disturbance signal Aif by a predetermined step value Δf. By repeating (calculation of transmission rate Gff), it is possible to detect the frequency amplitude ratio Arfc at startup (and the vibration transmission rate Gffc for each frequency of the vibration suppression target 9) as in the case of the stop.

FIG. 5 shows an example of frequency-based vibration transmissibility Gffn and Gffc when the vibration suppression control means 11 detected by the active vibration suppression performance evaluation system 20 of the present invention is stopped and started. As shown in FIG. 4, the graph of the illustrated example shows the frequency-dependent vibration characteristics (Gf) 41 of the vibration suppression target (floor model) 9 mounted on the digital signal processing device (DSP), and the frequency-specific characteristics (Gsf) 42 of the sensor. The vibration suppression control system 5 of FIG. 1 in which the active vibration suppression performance evaluation system 20 is mounted is connected to the virtual model (DSP) 40 using the virtual model 40 composed of the frequency-specific characteristics (Gaf) 43 of the actuator. The vibration transmissibility Gffn and Gffc for each frequency of the vibration suppression target 9 detected by the evaluation system 20 is shown in decibel values (dB value = 20 × log ₁₀ (Gff)).

For example, in the graph of FIG. 5, the ratio of the peak values of Gffn and Gffc within the range of 0.8 to 2.0 times the natural frequency fn of the first-order mode (0.8 fn to 2.0 fn) (vibration transmissibility ratio). = Gffc / Gffn) as an index, the vibration damping performance in the primary mode of the vibration damping control means 11 can be evaluated by the evaluation means 22 of the active vibration damping performance evaluation system 20. Alternatively, instead of the vibration transmissibility ratio (= Gffc / Gffn), for example, an area of Gffn (ΣGffn) and an area of Gffc (ΣGffc) within a range of 0.8 fn to 2.0 fn are obtained, and a ratio of the areas ( Based on the area ratio = ΣGffc / ΣGffn), the evaluation means 22 can also evaluate the vibration suppression performance in the primary mode of the active vibration suppression control means 11.

For example, in the graph of FIG. 5, the peak value difference (= 20 × log ₁₀ (Gffc) −20 × log ₁₀ (Gffn)) of the decibel value at the natural frequency fn (near 6.5 Hz) of the first-order mode is about −15 dB. Therefore, the vibration transmissibility ratio (= Gffc / Gffn) is about 0.177 (= 10 ^(−15/20) = 10 ^−0.75 ) by the evaluation means 22 of the active vibration suppression performance evaluation system 20. Can be evaluated. The vibration transmissibility ratio of the primary mode is determined by the vibration suppression target characteristic 41, the sensor characteristic 42, the actuator characteristic 43, and the vibration suppression control unit 11 of the vibration suppression control system 5 mounted on the digital signal processing device (DSP) in FIG. The vibration transmissibility ratio calculated analytically based on these parameters was almost the same. The inventor repeatedly evaluates the vibration transmissibility ratio in the first-order mode described above while changing the vibration suppression target characteristic 41, the sensor characteristic 42, and the actuator characteristic 43 in FIG. It was confirmed that a rate ratio was obtained. From this result, it was confirmed that the active vibration suppression performance evaluation system 20 of the present invention is effective for evaluating the vibration suppression performance of the active vibration suppression control means 11.

According to the active vibration suppression performance evaluation system 20 of the present invention, it is possible to detect the amplitude ratio by frequency at the same time when the active vibration suppression control means 11 is stopped (during non-control) and started (control). The vibration damping performance of the active vibration damping control means 11 can be accurately evaluated without being affected by the difference in vibration mode between starting and stopping. Further, it is possible to evaluate the damping performance of the active damping control means 11 in an arbitrary range while sweeping the frequency of the disturbance signal Aif in a desired range, and to improve the accuracy of damping performance evaluation based on a wide range of frequency characteristics. Can be achieved. Further, by implementing the control system 10 of the active vibration damping device 1 as a program, the vibration damping performance evaluation of the vibration damping device 1 with respect to the vibration damping target 9 can be performed easily and automatically. And can contribute to a significant reduction in time.

Thus, it is possible to achieve the “active vibration suppression performance evaluation system and program capable of accurately evaluating the vibration suppression performance of the vibration suppression target without being affected by the difference in vibration mode”, which is an object of the present invention.

The vibration damping control system 5 of the active vibration damping device 1 of FIG. 1 has actuator characteristic identification means 31 for identifying the vibration transmission characteristic Gaf for each frequency of the actuator 3, and the vibration transmission characteristic Gaf for each frequency of the actuator 3 by the identification means 31. Is set in the storage means 25. By providing the actuator characteristic identification means 31, for example, even when the actuator 3 whose vibration transfer characteristic Gaf is unknown is connected to the vibration suppression control system 5, the vibration suppression performance of the vibration suppression control system 5 can be accurately evaluated. Is possible. Even if the actuator 3 has the same configuration, there may be some individual differences. However, by identifying the vibration transfer characteristic Gaf by the actuator characteristic identification means 31, it is possible to evaluate the damping performance that is not affected by the individual difference of the actuator 3 or the like. It becomes possible.

FIG. 3 shows a flowchart of identification of the vibration transfer characteristic Gaf for each frequency of the actuator 3 by the actuator characteristic identification means 31 of FIG. First, in step S <b> 201, the vibration suppression control unit 11 is stopped by the active vibration suppression performance evaluation system 20, and then an excitation force measuring device (for example, an accelerometer) 32 is attached to the actuator 3. For example, when the actuator 3 is an active dynamic vibration absorber (AMD) as shown in FIG. 6, the excitation force measuring device 32 is attached on the additional mass 4 for exciting the vibration suppression target 9. Similarly to the flowchart of FIG. 2 described above, the frequency f of the disturbance signal Aif is set to the initial value fi in step S202, and the sine wave disturbance signal Ai having a predetermined amplitude corresponding to the frequency f is set in the disturbance signal superimposing means 21 in step S203. Is output to the actuator 3. In steps S204 to S205, after waiting for the vibration of the actuator 3 (additional mass 4) by the disturbance signal Aif to reach a steady state, the measurement signal Am of the excitation force measuring device 32 is input to the actuator characteristic identification means 31, and the disturbance signal The amplitude ratio Aqf (= Amf / Aif) of the measurement signal Am of the excitation force measuring device 32 with respect to Aif is detected.

For example, when the actuator 3 is an active dynamic vibration absorber (AMD), the amplitude ratio Aqf of the measurement signal Am of the excitation force measuring device 32 with respect to the disturbance signal Aif is the vibration of the actuator 3 as shown in the equation (2). Along with the transfer characteristic Gaf, the magnitude (mass) ms of the additional mass 4 and the gain kms of the excitation force measuring device 32 are reflected. However, since the magnitude ms of the additional mass 4 is a constant value and the gain kms of the excitation force measuring device 32 can be generally considered to be flat within the range of the sweep frequency f, as long as the damping performance is evaluated. In this case, even if the amplitude ratio Aqf is regarded as the vibration transfer characteristic Gaf of the actuator 3, no significant problem occurs. When it is necessary to obtain a physically meaningful vibration transfer characteristic Gaf, as shown in step S206 of FIG. 3, the storage means 11 of the vibration suppression control system 5 stores the magnitude ms of the additional mass 4 and the accelerometer 32. The gain kms is obtained and stored in advance, and the actuator characteristic identification means 31 calculates the vibration transfer characteristic Gaf (= (Aqf · ms) / kms) of the actuator 3 from the amplitude ratio Aqf based on the equation (2) at the frequency f. It can be calculated separately.
Aqf = Amf / Aif = Gaf · kms / ms (2)

After storing the amplitude ratio Aqf (and vibration transfer characteristic Gaf) detected in step S207 in FIG. 3 in the storage means 25, whether or not all the amplitude ratios Aqf (or Gaf) of the frequency f in the set range are stored in step S208. In step S209, the frequency f of the disturbance signal Aif is changed by a predetermined step value Δf, and the process returns to step S203, and the above-described steps S203 to S207 are repeated. Similar to the flowchart of FIG. 2 described above, by repeating detection of the amplitude ratio Aqf (and vibration transfer characteristic Gaf) until the frequency f of the disturbance signal Aif reaches the set frequency fmax, the frequency which is the characteristic of the actuator 3 in step S210. Another amplitude ratio Aqf (and vibration transfer characteristic Gaf) can be identified.

It is explanatory drawing which shows the structure of one Example of this invention system. It is an example of the flowchart of the performance evaluation program in the system of FIG. It is an example of the flowchart of the characteristic identification method of the actuator in the system of FIG. It is explanatory drawing of the performance confirmation experiment apparatus of the system of FIG. It is an example of the graph which shows the result of the damping performance evaluation by this invention system. It is explanatory drawing of an example of the conventional active damping device. It is explanatory drawing which shows the difference in the vibration mode shape of the vibration suppression object at the time of stop (at the time of non-control) of an active vibration suppression device, and the time of activation (at the time of control).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Active damping device 2 ... Vibration sensor 3 ... Actuator 4 ... Additional mass 5 ... Active damping control system 6 ... AD (analog / digital) converter 7 ... DA (digital / analog) converter 9 ... Damping object ( Structure)
DESCRIPTION OF SYMBOLS 10 ... Control system (computer) 11 ... Control means 12 ... Signal branch point 13 ... Signal addition point 14 ... Switch 20 ... Damping performance evaluation means 21 ... Disturbance signal superimposition means (signal generation means)
22 ... Amplitude ratio detection means 23 ... Evaluation means 25 ... Storage means 31 ... Actuator characteristic identification means 32 ... Excitation force measuring instrument (accelerometer)
33 ... AD (analog / digital) converter 40 ... virtual model 41 ... vibration target vibration characteristic 42 ... sensor characteristic 43 ... actor characteristic 44 ... acceleration gain 45 ... acceleration gain 46 ... AD (analog / digital) converter 47 ... DA (Digital / analog) converter 48 ... frequency characteristic analyzer

Claims (6)

A sensor for detecting vibration of the vibration suppression target, an actuator for exciting the vibration suppression target, and an active vibration suppression control means for outputting an excitation signal for suppressing vibration of the vibration suppression target to the actuator according to a detection signal of the sensor; A disturbance signal superimposing unit that is connected between the control unit and an actuator and superimposes a disturbance signal on the output excitation signal of the control unit while performing frequency sweeping, Amplitude ratio detection means connected between the control means and a sensor to detect an amplitude ratio by frequency of the sensor detection signal with respect to the disturbance signal, the detected amplitude ratio by frequency and the vibration transfer characteristics by frequency of the sensor and actuator storage means, and frequency of the sensor detection signal with respect to the disturbance signal while stopping or starting the control means connected to said control means for storing the bets Another amplitude ratio and the frequency-vibration transmissibility at startup and frequency-vibration transmissibility when stopping the sensor and calculating and controlling means for frequency-vibration transmissibility of the vibration damping target and a frequency-vibration transmission characteristics of the actuator An active vibration suppression performance evaluation system comprising evaluation means for evaluating the vibration suppression performance of the control means based on the difference between the two. 2. The system according to claim 1 , wherein a measurement signal of the excitation force measuring device for the disturbance signal is input when the excitation force measuring device attached to the actuator and the control means by the evaluation means are stopped, and the measurement signal for the disturbance signal is inputted. An active vibration suppression performance evaluation system further comprising an actuator characteristic identification means for detecting a vibration transmission characteristic for each frequency of an actuator from an amplitude ratio for each frequency and setting it in the storage means. 3. The system according to claim 2 , wherein the actuator includes an additional mass attached to the object to be controlled so as to be relatively movable, and the excitation force measuring device is an accelerometer attached on the additional mass. Storing the magnitude and accelerometer gain, and determining the actuator characteristic identification means according to the frequency of the actuator from the amplitude ratio of the measurement signal of the accelerometer to the disturbance signal by frequency, the magnitude of the additional mass, and the gain of the accelerometer. An active vibration suppression performance evaluation system that detects vibration transfer characteristics. A program for causing a computer to function as an active vibration suppression control means for outputting a vibration suppression signal for a vibration suppression target to an actuator for exciting the vibration suppression target according to a detection signal of a sensor for detecting the vibration of the vibration suppression target In order to evaluate the damping performance, the computer detects disturbance signal superimposing means for superimposing the disturbance signal on the output excitation signal of the control means while sweeping the frequency, and detects the amplitude ratio for each frequency of the sensor detection signal with respect to the disturbance signal. Amplitude ratio detection means, storage means for storing the detected amplitude ratio for each frequency and vibration transmission characteristics for each frequency of the sensor and actuator, and for each frequency of the sensor detection signal with respect to the disturbance signal while stopping or starting the control means Calculate the vibration transmission rate for each frequency of the vibration suppression target from the amplitude ratio and the vibration transmission characteristics for each frequency of the sensor and actuator. Active damping performance evaluation program that was and function as evaluation means for evaluating the damping performance of the control unit due to the difference in the frequency-vibration transmissibility and frequency-vibration transmissibility of startup when the stop control means. 5. The program according to claim 4 , wherein a measurement signal for the disturbance signal of the excitation force measuring device attached to the actuator is inputted when the control means by the evaluation means is stopped, and the actuator is obtained from the amplitude ratio by frequency of the measurement signal for the disturbance signal. An active vibration suppression performance evaluation program further comprising actuator characteristic identification means for detecting the vibration transfer characteristic for each frequency and setting it in the storage means. 6. The program according to claim 5 , wherein the storage means includes an additional mass attached to the actuator so as to be relatively movable on the object to be damped, and the acceleration measuring device is an accelerometer attached to the additional mass. Is stored with the magnitude of the additional mass and the gain of the accelerometer, and the actuator characteristic identification means is configured to determine the frequency ratio of the measurement signal of the accelerometer with respect to the disturbance signal and the magnitude of the additional mass and the gain of the accelerometer. An active vibration suppression performance evaluation program for detecting vibration transfer characteristics of actuators by frequency.