JP6296921B2 - Active vibration control method - Google Patents

Description

  The present invention relates to an active damping method for actively damping structures such as buildings and civil engineering structures, machines, and the like that are shaken by disturbances such as earthquakes and winds.

For example, as shown in FIG. 1, in a system for actively damping the structure 1, each response amount X with respect to a disturbance acting on the structure 1 and a damping result of the damping device 3 installed in the structure 1. _{1 to} X ₄ are detected by the sensor 2, and the detected value is digitized by the A / D converter 4 and supplied to the controller 5. The controller 5 includes a numerical arithmetic processor, an addition / multiplication circuit, and the like, obtains a drive command voltage based on the supplied detection value, and drives the obtained drive command voltage via the D / A converter 6. This is supplied to the control circuit 7. The drive device control circuit 7 drives the vibration damping device 3 based on the input drive command voltage and inputs a control force to the structure 1 to be controlled. By repeating this, shaking generated in the structure 1 is suppressed.

Here, the response amounts X _{1 to} X ₄ detected by the sensor 2 are the displacement, speed, acceleration, voltage value, and the like of the structure 1 and the vibration damping device 3. The calculation for obtaining the drive command voltage in the controller 5 is as shown in Equation is obtained by multiplying each predetermined respective control gain G _i in the response amount X ₁ to X ₄ supplied.
U = G ₁ · X ₁ + G ₂ · X ₂ ... + G ₄ · X ₄

At this time, the controller 5 using the constant control gain, as the control gain G _i, by using the constant control gain G _i is a constant value previously calculated by the optimum control theory such as seeking the drive command voltage U . Further, the controller 5 using the conventional variable control gain in advance, according to several disturbance levels assumed stores seeking corresponding several constant control gain G _i, structure 1 (control target) The constant control gain G according to the response amounts X ₁ , X ₂ , X ₄ such as displacement, speed, acceleration, etc., the response amount X 3 of the damping device ₃ (for example, the stroke of the active mass damper of the damping device 3). The drive command voltage U is obtained while appropriately switching _i .

However, in the controller 5 using the constant control gain, in response to changes in the disturbance intensity level by earthquakes and wind, the control gain G _i is not to be updated, increasing the disturbance intensity level, i.e., structure The required performance of the damping device 3 such as the control force also increases in proportion to the increase in the response amounts X _{1 to} X ₄ of the object 1 or the like. That is, for a disturbance level larger than a previously assumed disturbance level, as shown in FIG. 8, the control force required in proportion to the disturbance level increases, and the control force Uc allowed by the vibration damping device 3 or There is a risk of exceeding the allowable stroke. As described above, if the control force Uc allowed by the vibration damping device 3 or the allowable stroke is exceeded, active control cannot be continued, and in some cases, it is necessary to stop the system. is there.

On the other hand, as shown in FIG. 9, the response amounts X _{1 to} X ₄ of the corresponding structure 1 etc. are also small and can be output in proportion to the disturbance level smaller than the assumed disturbance level. Since the force can be suppressed to a small value, the performance of the vibration damping device 3 cannot be sufficiently exhibited.

In the controller 5 using the variable control gain, it is reasonable to select the response amount X _{1 to} X ₄ to be used for switching the constant control gain G _i and to set the reference value for switching. There was no method, and it was necessary to make a trial and error decision depending on the case. Further, when switching from a certain constant control gain G _i to another constant control gain G _i, by the discontinuity occurs in the control, or spike noise is generated in the control force, as shown in FIG. 10, also, switching As a result of frequent occurrence of chattering, chattering may occur in the braking force as shown in FIG. Furthermore, setting a reference value for fine switching is limited due to the control calculation time.

  Therefore, an active vibration damping method that can solve the above problems has been developed and proposed as Patent Document 1. The active damping method disclosed in Patent Document 1 changes the control strength (gain) of a damping device continuously based on a function in response to a disturbance level such as an earthquake or wind, and the capability of the damping device. The effective vibration control effect can be achieved within the constraints.

  According to the active vibration suppression method described in Patent Document 1, since the control strength (control gain) is changed based on the response amount of the vibration suppression device, it is close to the predetermined reference value regardless of the level of the disturbance level. It is possible to control so that the response amount of the vibration damping device approaches. Therefore, during strong winds with relatively strong steadiness, the damping effect can be effectively exhibited within the capacity constraints of the active damping device.

Japanese Patent No. 4056019

  However, for large earthquakes where the vibration amplitude of the structure (building) suddenly increases (especially for long-period ground motions where the building resonates), the change in control strength may not be in time. It has been found that there is a possibility that the vibration will be over the stroke and the control will be stopped.

  The present invention has been made in view of the above circumstances, and an active control capable of effectively exhibiting a vibration control effect within the capacity constraints of the vibration control device without being stopped even during a large earthquake. The object is to provide a vibration method.

  In order to solve the above-mentioned problem, an active vibration suppression method according to the present invention as set forth in claim 1 is characterized in that a control amount is obtained by multiplying all or part of a response amount to be controlled and a response amount of a vibration control device by a predetermined control gain. In the active vibration damping method in which a control force corresponding to the control amount is input to the controlled object via the vibration damping device, the control gain is a function of a variable α that is set to an initial value at the start of control, The function is set so that the response amount of the vibration damping device increases as the variable α increases, and the response amount of the vibration suppression device decreases as the variable α decreases. Input the response amount and the response amount of the vibration suppression device, and compare the input response amount of the vibration suppression device with a predetermined reference value set to a value lower than the capacity limit value of the response amount of the vibration suppression device. , Input from the above-mentioned predetermined reference When a margin variable β indicating a margin state of the response amount of the vibration control device is calculated, while an upper limit value and a lower limit value are set for the variable α, and the response amount of the vibration suppression device is below the predetermined reference value The variable α is increased up to the set upper limit value, and when the response amount of the vibration control device exceeds the predetermined reference value, the variable α is set up to the set lower limit value. If it is determined whether the disturbance acting on the controlled object is due to an earthquake or wind, and if it is determined to be due to an earthquake, the upper limit of the variable α is determined to be due to wind The variable α is increased or decreased between the upper limit value and the lower limit value according to the magnitude and positive / negative of the margin variable β indicating the margin state of the response amount of the vibration damping device. The difference between the response amount of the vibration damping device and the predetermined reference value of the response amount is It is characterized by being continuously changed in a decreasing direction.

  In the active vibration suppression method of the present invention, when the response amount of the vibration suppression device exceeds a predetermined reference value, the response amount is decreased, that is, the control amount of the vibration suppression device is decreased. The control gain changes. Further, when the response amount of the vibration damping device is smaller than the predetermined reference value, the control gain changes so that the response amount increases, that is, the control amount of the vibration damping device increases.

  At this time, since the response amount is generally proportional to the disturbance level, by selecting an appropriate response amount, the control can be performed even when the response amount is smaller than a predetermined value, that is, when the disturbance level is lower than expected. Even if the amount can be secured to a value greater than a predetermined value and the response amount is greater than a predetermined value, that is, the disturbance level is greater than expected, the control amount can be suppressed to a value less than a predetermined value.

  Further, by changing the control gain based on the response amount such as the control force of the vibration control device, it becomes possible to converge the control amount to a predetermined reference value regardless of the magnitude of the disturbance.

  Also, since the control gain changes continuously from moment to moment, the control amount using that control gain also changes continuously in small increments, causing discontinuities in the control amount or frequent discontinuities. Is suppressed. Here, the response amount for changing the control gain is not necessarily the response amount used when the control amount is directly calculated.

  In addition, the control gain is changed by constantly changing the variable α in the range of the set upper limit value and lower limit value in the direction in which the deviation of the response amount from the predetermined reference value of the vibration damping device is minimized. In the state where the response amount of the vibration device is below the predetermined reference value, the control gain changes by increasing the variable α up to the set upper limit value. Even if the disturbance level is small, the magnitude is greater than the predetermined value. Vibration can be controlled with a controlled amount of. At this time, by setting an upper limit value for the variable α, the variable α and the controlled variable are prevented from becoming too large.

  In addition, in a state where the response amount of the vibration control device exceeds the predetermined reference value, the control gain changes by decreasing the variable α to the set lower limit value, and even if the disturbance level is large, it is less than the predetermined value. Vibration can be controlled with a large control amount. At this time, setting the lower limit value for the variable α prevents the variable α and the controlled variable from becoming too small.

  In addition, the disturbance acting on the controlled object has a force due to an earthquake or wind, but when it is determined that the vibration is caused by an earthquake, the upper limit value of the variable α is smaller than the upper limit value when it is determined that the vibration is caused by the wind. And the conservative operation with weak control strength (small control gain) is performed. For this reason, even when the change in control strength is not in time, such as during a large earthquake in which the vibration amplitude of the controlled object increases rapidly, the vibration control device can be prevented from overstroke and control can be stopped. The vibration damping effect is effectively exhibited within the capacity constraints of the vibration damping device.

  Note that the relationship between the variable α and the control gain is related by approximating a polynomial of the variable α that connects a plurality of constant gains determined corresponding to each disturbance level as in the prior art.

  According to the active damping method of the present invention, for example, if the damping device uses an active mass damper, the control gain is changed based on the response amount of the damping device such as the stroke amount of the mass. Regardless of the level of the disturbance level, the control amount can be controlled to be always close to a predetermined reference value such as a value close to the capacity limit value of the vibration control device. Therefore, it is possible to reliably perform the vibration control by effectively utilizing the capacity of the vibration control device within the constraints of the vibration control device.

  In addition, even if the disturbance is small, it is possible to secure a control amount that is greater than or equal to a predetermined level, and even if the disturbance is greater than the assumed level, the vibration can be controlled with a value near the predetermined control amount. This makes it possible to perform fine control within the capacity constraints of the above, and to greatly improve the operation efficiency of the vibration damping device. In addition, by continuously changing the control gain, it is possible to exhibit a stable control force without affecting a change in disturbance or the like.

  Furthermore, since the variable α in the function that defines the control gain increases or decreases between the predetermined upper limit value and the lower limit value, each corresponding control gain also changes between the predetermined upper limit value and the lower limit value, so that the control The amount can be kept within a predetermined range. In addition, at that time, since the upper limit value of the variable α is changed to a smaller value in the event of an earthquake, the conservative operation with a weaker control strength can be performed, and the vibration amplitude of the controlled object is suddenly increased. Even when the change in control gain is not in time as in the case of a large earthquake that increases rapidly, it is possible to prevent the vibration damping device from over-stroke and to avoid a situation where the control is stopped.

1 is a schematic configuration diagram showing an active vibration suppression system of an embodiment according to the present invention. It is a figure which shows an example of the relationship between the variable (alpha) and gain function _Ai ((alpha)) of embodiment which concerns on this invention. It is a figure which shows the flow of a process of the controller of embodiment which concerns on this invention. It is a figure which shows the typical state by control of embodiment which concerns on this invention, (a) is a time history of disturbance, (b) is a time history of (alpha) corresponding to a disturbance, (c) respond | corresponds to a disturbance. It is a figure which shows the time history of the control force to perform. It is a figure which shows the relationship between the variable (alpha) and gain function _Ai ((alpha)) of embodiment which concerns on this invention. It is a figure which shows the variable (alpha) and control force state in case the maximum input acceleration as a disturbance in embodiment which concerns on this invention is 40 Gal, (a) is a time history of (alpha), (b) is a time history of control force. FIG. It is a figure which shows the variable (alpha) and control force state in case the maximum input acceleration as a disturbance in embodiment which concerns on this invention is 100 Gal, (a) is a time history of (alpha), (b) is a time history of control force. FIG. It is a figure which shows the state when the disturbance in the active vibration suppression method using the conventional constant control gain becomes larger than expected, (a) shows the time history of disturbance, (b) shows the time history of control force. FIG. It is a figure which shows the state in case the disturbance in the active vibration suppression method using the conventional constant control gain is smaller than assumption, (a) is a time history of disturbance, (b) is a figure which shows the time history of control force It is. It is a figure which shows the switching of the gain by the change of the disturbance in the active vibration suppression method using the conventional variable control gain, (a) is a time history of disturbance, (b) is a figure which shows the time history of control force. is there. It is a figure which shows the time history of the control force in the active vibration suppression method using the conventional variable control gain.

An embodiment of an active vibration damping method of the present invention will be described with reference to the drawings.
First, the configuration of an active vibration suppression system for carrying out the above active vibration suppression method will be described. As shown in FIG. 1, the ground floor (the ground or a position close to the ground) of a structure (for example, a building) 1 to be controlled is shown. ), Sensors 2 (2A, 2B, 2D) are arranged on the top floor, the middle floor, and the like. In addition, a vibration damping device 3 made of an active mass damper, active tendon, or the like is disposed on the upper floor. The vibration damping device 3 is provided with a sensor 2 (2C) that detects a response amount. In addition, a sensor 2 (2E) mainly used for earthquake determination is disposed on the top of the structure 1.

The sensor 2 (2A-2E) is a displacement amount, velocity, sensors such as displacement meter or an accelerometer for detecting the response amount X ₁ to X _N by the results of the disturbance or vibration such as acceleration at each installation position . In particular, the sensors 2A to 2D are sensors that detect response amounts in the horizontal direction, and the sensor 2E is a sensor that detects response amounts in the vertical direction (up and down).

Response amount signals corresponding to the response amounts X _{1 to} X _N detected by these sensors 2 (2A to 2E) are input to the A / D converter 4, respectively. Each A / D converter 4 digitizes the input response amount signal and inputs it to the controller 5.

As in the prior art, the controller 5 multiplies the supplied response amounts X _{1 to} X _N by the control gains A _i (α) · G _i , respectively, so that the drive command voltage U (α ) Then, the obtained drive command voltage U (α) is input to the D / A converter 6.

  The D / A converter 6 converts the input drive command voltage U (α) into an analog signal and inputs it to the drive device control circuit 7. The drive device control circuit 7 inputs a control signal (control current) corresponding to the input drive command voltage U (α) to the vibration damping device 3. The vibration damping device 3 inputs a control force according to a control signal from the drive device control circuit 7 to the structure 1.

Here, the drive command voltage U (α) in the controller 5 is multiplied by each control gain A _i (α) · G _i corresponding to each response amount X _{1 to} X _N as shown in the following equation (1). Calculate with
U (α) = A ₁ (α) · G ₁ · X ₁
+ A ₂ (α) · G ₂ · X ₂
+ ... + A _N (α) · G _N · X _N (1)

At this time, each control gain A _i (α) · G _i corresponding to each of the response amounts X _{1 to} X _N is converted into a predetermined constant control gain G _i and each gain function A _i (α ) Is a variable control gain set by weighting. Further, the gain function A _i (α) is a function represented by a polynomial of α or the like, and A _i (α) and α are determined according to corresponding response amounts X _{1 to} X _N , for example, The relationship is as shown in FIG.

In general, A i _(alpha), as indicated by a solid line in FIG. 2, but is defined as increases in proportion to the increase of the alpha, A for a given amount of response X ₁ ~X _{N i} ( α) may be defined to change so as to draw a curve indicated by a one-dot chain line in FIG. 2, for example. Then, by changing α during control, the gain function A _i (α) and further the control gain A _i (α) · G _i are changed.

Here, an upper limit value α _MAX and a lower limit value α _MIN are set for the variable α, and the variable α can be changed only in a range between the lower limit value α _MIN and the upper limit value α _MAX. It is like that. This is to prevent α from becoming too large and α from becoming too small.

  By the way, disturbances acting on the controlled object include shaking caused by earthquake and shaking caused by wind. In the case of a large earthquake, the vibration amplitude of the structure 1 increases abruptly, so there is a possibility that the change in the control gain is not in time. If the change in the control gain is not in time, the vibration damping device 3 may be overstroke.

Therefore, during an earthquake, both the upper limit value α _MAX and the lower limit value α _MIN of the variable α are changed to the smaller side. That is, when the controller 5 is set with a function for discriminating whether the disturbance acting on the structure 1 to be controlled is caused by an earthquake or wind, and when it is determined that the disturbance is caused by an earthquake, the upper limit value α _{MAX of the} variable α And the lower limit value α _MIN are both changed to a lower side than the upper limit value and the lower limit value when it is determined that it is caused by wind. _

Specifically, when it is determined that an earthquake has started, an upper limit value α _MAX and a lower limit value α _MIN , which are variable ranges of α with respect to the control gain as a function of the variable α, are prepared for earthquakes using “α _{MAX —} Change to “Earthquake” and “α _MIN _Earthquake”. If it is determined that the earthquake has ended, the upper limit value α _MAX and the lower limit value α _MIN of the variable α are returned to “α _MAX _ wind” and “α _MIN _ wind” prepared for wind.
here,
α _MAX _ Earthquake ≦ α _MAX _ Wind α _MIN _ Earthquake ≦ α _MIN _ Wind.

  In addition, the start determination of the earthquake is, for example, (a) “when the horizontal acceleration detected by the sensor 2A disposed near the ground exceeds the first threshold” or (b) “structure” This is performed when the vertical acceleration detected by the sensor 2E disposed at the uppermost portion of 1 exceeds the second threshold value.

  In addition, for example, (a) “the horizontal acceleration detected by the sensor 2A disposed near the ground is below the first threshold for a certain time and the top of the structure 1 is determined. When the horizontal acceleration detected by the sensor 2D disposed on the sensor falls below the third threshold for a certain period of time ”or (b)“ Up and down direction detected by the sensor 2E disposed on the top of the structure 1 ” When the acceleration in the horizontal direction falls below the second threshold for a certain period of time and the horizontal acceleration detected by the sensor 2D disposed on the top floor of the structure 1 falls below the third threshold for a certain period of time. .

Next, an outline of processing such as determination of the control gains A _i (α) · G _i executed in the controller 5 will be described with reference to the flowchart of FIG.

In the present embodiment, a case is described in which the control gain A _i (α) · G _i is continuously changed according to the control current value Y corresponding to the control force, which is one of the response amounts of the vibration damping device 3. To do.

In addition, the reference value of the present embodiment is an allowable target value (predetermined reference value) Y _MAX that is slightly lower than the capacity limit value of the response amount (control current value Y). For example, the allowable target value YMAX is set to a value such as 80% of the capacity limit value. The control current value Y is a value derived from one or a predetermined amount of response _X 1 to X _N of the response quantity _X 1 to X _N.

First, at the start of control, an appropriate initial value α _init is set to α (step S1).
Next, the sensor 2 respectively from (2A-2E), the controlled object (structure 1) and the amount of response _X 1 to X _N of the damping device 3, the control current of the damping device 3 is one of the response amount A value Y is input (step S2).

Next, earthquake determination is performed (step S3), and α _MAX and α _MIN are determined according to the result of the earthquake determination. That is, when it is not determined that the earthquake is an earthquake (NO), α _MAX and α _MIN are set to “α _MAX _ wind” and “α _MIN _ wind” prepared for wind (step S4). If it is determined that the earthquake is present (YES), α _MAX and α _MIN are set to “α _MAX _earthquake” and “α _MIN _earthquake” prepared for the earthquake (step S5).

As mentioned above,
α _MAX _ Earthquake ≦ α _MAX _ Wind α _MIN _ Earthquake ≦ α _MIN _ Wind.

Next, the current control current value Y of the vibration damping device 3 is compared with the allowable target value (predetermined reference value) Y _MAX to calculate a margin variable β (step S6). This margin variable β is calculated by the following equation (2), for example.
β = 1.0− (| Y | / Y _MAX ) (2)

As can be seen from the above equation (2), when the control current value Y exceeds the allowable target value Y _MAX , the margin variable β takes a negative value, and the control current value Y becomes the allowable target value Y _MAX. If it is less than, the margin variable β takes a positive value. That is, the margin variable β indicates a margin state (control amount margin state) of the control current value Y viewed from the predetermined reference value, and when the control current value Y has margin (the control current value Y is the allowable target value Y _MAX). If the control current value Y exceeds the allowable target value Y _MAX , a negative value corresponding to the excess is taken. Yes.

Note that the equation for calculating the margin variable β is not limited to the above equation (2), and may be an equation such as the following equation (3). In short, as described above, it is sufficient that the equation indicates a marginal state of the control current value Y viewed from the predetermined reference value.
β = 1.0− (| Y _i | / Y _MAX ) N (3)
Here, N is a constant.

Next, the margin variable β obtained as described above is substituted into the following equation (4), and α is updated (step S7). Here, Δα in the following equation is an increment amount of α.
α = α + Δα · β (4)

According to the equation (4), α changes in the increasing direction if the control current value Y has a margin, and changes in the decreasing direction if it exceeds the allowable target value Y _MAX . That is, α increases and decreases in small increments, that is, smoothly so that Y approaches Y _MAX . However, α can be infinite both positive and negative due to the nature of the equation.

Therefore, by comparing the alpha and a predetermined lower limit value alpha _MIN (step S8), alpha is less than alpha _MIN, the alpha _MIN to the value of alpha (step S9). Further, α is compared with a predetermined upper limit value α _MAX (step S10), and if α is larger than the predetermined upper limit value α _MAX , α _MAX is set to a value of α (step S11).

Then, based on the alpha determined above, determine the values of the gain function A _{i (alpha),} respectively, by multiplying the respective gain function A _i to _(alpha) to each control constant gain G _i, the control gain A _i (α) · G _i is updated, and the control gain A _i (α) · G _i is multiplied by each of the response amounts X _{1 to} X _N as shown in the above equation (1), and the drive command voltage U (α ) The value is calculated (step S12).

Here, the variable α changes in small increments with respect to the increment Δα, that is, continuously, and the gain function A _i (α) by the variable α, and each control gain A _i (α) · G _i is also determined. It changes gradually, that is, continuously.

The variable α is an index indicating the strength of control. If the response amounts X _{1 to} X _N are constant, the drive command voltage U (α) increases as α increases. A _i (α) is set so that the drive command voltage U (α) decreases as α decreases. That is, for example, even if the variable α increases, the gain function A _i (α) that determines the change in each control gain A _i (α) · G _i in proportion thereto does not necessarily increase as described above. However, if the control current value Y is smaller than the allowable target value Y _MAX , α increases so that the drive command voltage U (α) increases, that is, the control current value Y and the allowable target value Y _MAX (predetermined Each control gain A _i (α) · G _i is set to change in a direction in which the difference from the reference value becomes smaller.

Next, the calculated drive command voltage U (α) and its allowable value U _limit are compared (step S13). If U (α) is larger than the allowable value U _limit , U _{limit is set} to U (α ) (Step S14). Thus, by providing the allowable value U _limit , the drive command voltage U (α) is prevented from becoming excessive. Then, the calculated drive command voltage U (α) is supplied to the drive device control circuit 7 (step S15). The controller 5 repeats the above processing every predetermined sample time.

Next, vibration suppression of the structure 1 by the active vibration suppression system will be described.
When a disturbance due to an earthquake or a wind is input to the structure 1 and the structure 1 is shaken, each response amount X _{1 to} X _N of the structure 1 with respect to the disturbance is detected by the sensor 2, and the detected response amount X ₁ to X _N are sequentially supplied to the controller 5 via the a / D converter 4. Then, as described above, the controller 5 obtains the drive command voltage U (α) based on the supplied response amounts X _{1 to} X _N, and obtains the obtained drive command voltage U (α) in the D / A converter 6. To the drive device control circuit 7 via The drive device control circuit 7 drives the vibration damping device 3 based on the supplied drive command voltage U (α), and inputs a control force according to the drive command voltage U (α) to the structure 1. The structure 1 is damped.

At this time, when the level of disturbance such as earthquake or wind is small, the control current value Y input to the controller 5 is also small, so the drive command voltage U (α) is small but compared with the allowable target value Y _MAX. Since the control current value Y of the vibration damping device 3 is small, the variable α changes in the increasing direction, and a control force of a predetermined level or more can be input to the structure 1 even when the level of disturbance is small. As a result, even if the level of disturbance is lower than the assumed level, the performance of the vibration damping device 3 is effectively exhibited and vibration damping can be effectively performed.

At this time, since a predetermined upper limit value and a lower limit value are set for the variable α, the α is compared with the predetermined upper limit value α _MAX (step S10), and the α is larger than the predetermined upper limit value α _MAX. If it is larger, α _MAX is set to the value of α (step S11), thereby preventing the variable α and the controlled variable from becoming too large.

When the level of disturbance such as earthquake or wind is large, the response amounts X _{1 to} X _N input to the controller 5 increase and the drive command voltage U (α) also increases. When the control current value Y exceeds the allowable target value Y _MAX , the variable α changes in a decreasing direction, and the drive command voltage U (α) changes in a decreasing direction. As a result, even if the level of the disturbance becomes larger than the assumed level, it is avoided that the permissible performance of the vibration damping device 3 is exceeded, and the vibration damping device 3 is stopped without stopping the vibration damping device 3 as in the prior art. It is possible to control the vibration with the control force in the vicinity of the allowable target value Y _MAX .

In this case, by comparing the alpha and the predetermined lower limit value alpha _MIN (step S8), alpha is a small if alpha _MIN than alpha _MIN to the value of alpha from was (Step S9) as variables alpha and control The amount is prevented from becoming too small.

If an earthquake is identified, the upper limit value α _MAX and lower limit value α _MIN of the variable α are set to the upper limit value “α _MAX _earthquake” and the lower limit value “α _MIN _wind” for earthquakes. If it is not determined or an earthquake is not identified, the upper limit value α _MAX and the lower limit value α _MIN of the variable α are set to the upper limit value “α _MAX _ wind” for wind and the lower limit value “α _MIN _ wind”. The regulation range that the variable α can take, that is, the regulation range that the control gain can take, is switched between when the earthquake is not and when it is not. That is, during an earthquake, the upper limit value α _MAX and the lower limit value α _{MIN of} the variable α are changed to a smaller side compared to the case other than during an earthquake, so that a conservative operation with a weak control strength is performed. Therefore, even when the change in control gain is not in time as in the case of a large earthquake in which the vibration amplitude of the control target increases rapidly, the vibration control device can be prevented from overstroke and the control is stopped. The situation can be avoided.

Further, the variable α for changing the control gain A _i (α) · G _i is updated by increasing / decreasing a value obtained by multiplying the current variable α by a predetermined increment Δα and a margin coefficient β according to the equation (4). That is, the control gain A _i (α) · G _i also changes continuously, and the control command value is changed when the control gain A _i (α) · G _i is switched as in the prior art. The occurrence of spike noise and chattering in the voltage is avoided, and stable and fine vibration control is possible.

An example of the above control is schematically shown in FIG. That is, in a state where the level of disturbance is smaller than the assumed level, the corresponding control current value Y is also small, so that α increases and maintains the vicinity of the upper limit value α _MAX and outputs a control force corresponding thereto. Then, as the control current value Y exceeds the allowable target value Y _MAX , that is, when the level of the disturbance becomes larger than the assumed level, α changes so as to decrease accordingly, and the increase in the control force is suppressed. In this way, the variable α and further the damping force change according to the disturbance level, and the damping device 3 exhibits a predetermined control force within the range of functions restricted according to the disturbance level.

Furthermore, it demonstrates concretely.
First, as a structure model to be controlled, a 10-mass shear spring model with each mass mass of 100 tons is considered. At the top of the structure model, an active mass damper is installed as a vibration control device and Assume that the speeds and displacements of the floor and the 10th floor, and the speed and displacement of the active mass damper are the response amounts X _{1 to} X _N. Further, the first-order natural period is set to 1.2 seconds, and the second to fifth order natural periods are set to 0.47 seconds, 0.22 seconds, and 0.17 seconds, respectively, and each mode attenuation constant is set to 1%. .

Further, the relationship between α and each gain function A _i (α) is set as shown in FIG. In this case, α is increased from 0.2 to 2.0 every 0, 2 to obtain sample values of control gains corresponding to the response amounts X _{1 to} X _N, and gains are determined based on the sample values. The function A _i (α) · G _i is approximated to a polynomial of α. In FIG. 5, G5D represents the gain function value multiplied by the displacement of the fifth floor of the structure, G10D represents the gain function value multiplied by the displacement of the tenth floor of the structure, and GMD represents the displacement of the active mass damper. G5V is the gain function value multiplied by the speed of the 5th floor of the structure, G10V is the gain function value multiplied by the speed of the 10th floor of the structure, and GMV is the speed of the active mass damper. Each value of the gain function to be multiplied is represented.

Further, α is set such that the lower limit value α _MIN is 0.2, the upper limit value α _MAX is 2.0, the initial value α _init is 1.0, and the increment Δα is set to 0.05. Further, the control force of the vibration damping device 3 was used as a response amount for changing α, the limit value of the control force was set to 1.31 tonf, and the predetermined reference value was set to 0.85 tonf of 60% thereof.

  For the model set as described above, E1-Centro1940N having a large time-series intensity level change is used as the disturbance, the maximum input acceleration is 40 Gal and 100 Gal, and the time history waveform of α and the control force is expressed as follows. As a result of the search, FIG. 6 and FIG. 7 were obtained. FIG. 6 shows the case where the maximum input acceleration is 40 Gal, and FIG. 7 shows the case where the maximum input acceleration is 100 Gal.

As can be seen from this figure, by adopting the active vibration damping method of this embodiment, the variable α, that is, the control gain A _i (α) · G _i is updated from moment to moment following the input acceleration which is a disturbance. It can be seen that vibration suppression is performed while gradually approaching the control force based on the control force.

In the above embodiment, the variable α of the control gain A _i (α) · G _i is changed based on the drive current and control force of the vibration damping device 3, but is not limited to this. For example, if the vibration control device uses an active mass damper, the power consumption of the vibration control device may be changed based on a response amount such as a stroke amount of the mass.

In the above embodiment, α, that is, the gain function A _i (α) is updated based on one response amount Y. However, α may be changed based on a plurality of response amounts. In addition, a plurality of α corresponding to each target control gain may be prepared to update each control gain.

  Further, the response amount for changing the α does not need to be the response amount used for the calculation of the equation (1).

  As described above in detail, according to the active vibration damping method of the present embodiment, when the vibration damping device 3 uses an active mass damper, it is based on the response amount of the vibration damping device 3 such as the stroke amount of the mass. Therefore, regardless of the level of the disturbance level, the control amount can be reliably controlled so as to be always close to a predetermined reference value such as a value close to the capacity limit value of the vibration damping device 3. Therefore, it is possible to reliably perform the vibration control by effectively utilizing the capacity of the vibration control device within the constraints of the vibration control device 3.

  In addition, even if the disturbance is small, it is possible to secure a control amount that is greater than or equal to a predetermined level, and even if the disturbance is greater than the assumed level, the vibration can be controlled with a value near the predetermined control amount. Thus, fine control within the capacity constraint of 3 is possible, and the operating efficiency of the vibration damping device 3 can be greatly improved. In addition, by continuously changing the control gain, it is possible to exhibit a stable control force without affecting a change in disturbance or the like.

Furthermore, since the variable α in the function A (α) that defines the control gain increases or decreases between the predetermined upper limit value α _MAX and the lower limit value α _MIN , each corresponding control gain also has a predetermined upper limit and lower limit. The control amount can be kept within a predetermined range.

  Moreover, since conservative operations with weak control strength are performed during an earthquake, the damping device 3 is prevented from being overstroked even when the change in control gain is not in time as in a large earthquake. The situation where control is stopped can be avoided.

DESCRIPTION OF SYMBOLS 1 Structure 2,2A-2E Sensor 3 Damping device 5 Controller 7 Drive device control circuit α Variable α _MAX Upper limit of α α _MIN Lower limit of α α _MAX _Earthquake Upper limit of α for earthquake α _MIN _Earthquake Lower limit value of α for earthquakes α _MAX _ Wind Upper limit value of α other than during earthquakes α _MIN _ Wind Lower limit value of α other than during earthquakes A _i (α) Gain function X _{1 to} X _N Response amount Y Variable α Response amount for changing Y _MAX reference value U (α) Drive command voltage

Claims (1)

The control amount is obtained by multiplying all or part of the response amount of the control target and the response amount of the vibration control device by a predetermined control gain, and the control force corresponding to the control amount is applied to the control target via the vibration control device. In the active vibration suppression method to enter,
The control gain is a function of a variable α that is set to an initial value at the start of control. The function is set so that the response amount of the vibration control device increases as the variable α increases, and the variable α decreases. Set so that the response amount of the above damping device is small,
The response amount of the control target and the response amount of the damping device are input, the input response amount of the damping device, and a predetermined reference value set to a value lower than the capability limit value of the response amount of the damping device; And calculating a margin variable β indicating a margin state of the response amount of the input damping device viewed from the predetermined reference value,
On the other hand, when the upper limit value and the lower limit value are set for the variable α and the response amount of the vibration damping device is lower than the predetermined reference value, the variable α is increased up to the set upper limit value, When the response amount of the vibration damping device exceeds the predetermined reference value, the variable α is decreased to the set lower limit value,
Further, when it is determined whether the disturbance acting on the controlled object is caused by an earthquake or wind, and when it is determined that the disturbance is caused by an earthquake, the upper limit value of the variable α is smaller than that determined when the disturbance is caused by wind. To change to the side,
Between the upper limit value and the lower limit value, the variable α is increased or decreased according to the magnitude and positive / negative of the margin variable β indicating the margin state of the response amount of the damping device, and the response amount of the damping device, An active vibration damping method characterized by continuously changing the response amount to a predetermined reference value so as to decrease the difference.

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