JP6886148B2 - Active mass damper and control device for active mass damper - Google Patents

Description

The present invention relates to an active mass damper and a control device for the active mass damper.

As a device for suppressing vibration of a structure due to seismic motion, there is an active mass damper equipped with a movable mass reciprocatingly installed in the structure and an actuator for driving the movable mass.

The active mass damper suppresses the vibration of the structure by driving the movable mass so as to cancel the vibration of the structure when the structure vibrates due to seismic motion or the like. Therefore, the active mass damper is provided with a control device for controlling the actuator.

For example, a conventional active mass damper is equipped with an acceleration sensor that detects the acceleration acting on a structure, and drives the movable mass by obtaining the control force that the actuator gives to the movable mass from the acceleration detected by the acceleration sensor. (For example, refer to the prior art column of Patent Document 1).
In addition, the active mass damper is equipped with a displacement sensor that detects not only the acceleration detected by the acceleration sensor so that the movable mass does not exceed the stroke limit but also the displacement of the movable mass, and the displacement detected by the displacement sensor. In some cases, the actuator is controlled in consideration of the above (see, for example, Patent Document 1).

JP-A-2007-239942

The active mass damper, which obtains the control force that the actuator gives to the movable mass from the acceleration detected by the acceleration sensor, gives a force command to the actuator, and estimates the displacement and velocity of the structure and movable mass by filtering. There is only. Therefore, with such an active mass damper, the accuracy of the filter may cause an error in the displacement and speed of the structure and movable mass, which may cause the control output to diverge, making it difficult to design the filter and obtaining the desired vibration damping effect. It may not be possible.

Also, not only for acceleration sensors but also for active mass dampers that use displacement sensors, there is a problem that the calculation that integrates the acceleration twice is required, filtering is essential, and the phase is delayed. There is a possibility that such a damping effect cannot be obtained.

Therefore, an object of the present invention is to provide an active mass damper and a control device for the active mass damper, which can improve the vibration damping performance.

In order to achieve the above object, the active mass damper of the present invention and the control device of the active mass damper are movable mass only from the acceleration detected by the acceleration sensor based on the transfer function from the displacement command to the acceleration of the structure by the control unit. It is designed to generate a displacement command that indicates the displacement of. In the active mass damper and the control device of the active mass damper configured in this way, since the actuator is controlled by the displacement command, an error is unlikely to occur in the displacement of the movable mass, and the acceleration is not performed without the process of integrating the acceleration. Since the displacement command is generated from, no phase delay occurs in control.

Further, the active mass damper is provided with a gain multiplying unit that obtains a correction gain to be multiplied by the displacement command based on the displacement command level, which is the magnitude of the displacement command, and the stroke limit value of the movable mass, and multiplies the displacement command by the correction gain. You may. When the gain multiplication unit is provided in this way, the active mass damper is a structure that displaces the movable mass within the allowable stroke range even if the control unit generates a displacement command that exceeds the stroke limit of the movable mass. It can exert the vibration suppression effect of.

Further, in the active mass damper, the index value obtained by dividing the displacement command level by the stroke limit value is used as a parameter, the correction gain is set to 1 when the index value is 1 or less, and the index value exceeds 1 and is set to 1 or more. Then, the correction gain may be obtained by using a map in which the correction gain decreases in a parabolic manner and the correction gain decreases in inverse proportion to the index value when the index value exceeds the set value. When the active mass damper is configured in this way, the correction gain does not change suddenly continuously when the index value changes across the set value of 1, so vibration occurs in the speed of the movable mass and vibration suppression of the structure is suppressed. There is no risk of diminishing the effect.

The active mass damper may include a displacement sensor that detects the displacement of the movable mass, and a feedback control unit that performs feedback control based on the displacement command and the displacement of the movable mass detected by the displacement sensor. The active mass damper configured in this way enhances the followability to the displacement command of the movable mass, and can also correspond to the servo amplifier that drives the actuator by the speed command or the force command.

According to the active mass damper of the present invention and the control device for the active mass damper, the vibration damping performance can be improved.

It is a figure which applied the active mass damper and the control device of the active mass damper in one Embodiment to a structure. It is a control block diagram of the active mass damper in one Embodiment. It is a figure which showed the control model in a general control system. It is a figure which showed the control model of the control system in the active mass damper of one Embodiment. This is a first modification of the control block diagram of the active mass damper in one embodiment. It is a second modification of the control block diagram of the active mass damper in one embodiment. It is a third modification of the control block diagram of the active mass damper in one embodiment. It is a figure which showed an example of the map in the gain multiplication part of the active mass damper in one Embodiment.

Hereinafter, the present invention will be described based on the embodiments shown in the figure. As shown in FIGS. 1 and 2, the active mass damper 1 in one embodiment is installed in the structure S in order to suppress the vibration of the structure S.

As shown in FIGS. 1 and 2, the active mass damper 1 controls a movable mass 2 that is reciprocally installed with respect to the structure S, an actuator 3 that drives the movable mass 2, and an actuator 3. It includes a controller C as a device. The controller C of this example includes an acceleration sensor 4 that detects the acceleration of the structure S and a control unit 5 that controls the actuator 3.

Hereinafter, each part will be described in detail. As shown in FIG. 1, the movable mass 2 is installed so as to travel on the guide rail 6 provided in the structure S and reciprocate. The actuator 3 is, for example, a telescopic type electric cylinder driven by a motor, and reciprocates the movable mass 2 with respect to the structure S along the guide rail 6. The configuration of the actuator 3 is not limited to that described above, and may be a telescopic type hydraulic cylinder. In this example, since the actuator 3 is a motor, a feed screw mechanism consisting of a ball nut and a ball screw is used to convert the rotational power of the actuator 3 into a linear motion of the movable mass 2. A pinion may be used.

The acceleration sensor 4 is installed in the structure S in order to detect the acceleration acting on the structure S, and the detected acceleration is input to the controller C as a signal. When the controller C receives the acceleration information detected by the acceleration sensor 4, it processes the acceleration information to generate a displacement command to drive the actuator 3.

In this example, the controller C includes a control unit 5 that generates a displacement command U by inputting acceleration, and a servo amplifier 7 that drives the actuator 3. In this example, the control unit 5 generates the displacement command U based on the transfer function from the displacement command U to the acceleration of the structure S.

Here, as shown in FIG. 3, consider a general control system in which the controller receives an input of the target value r to control the plant. As the output y of the plant, the output y is input to the controller as a feedback signal, and the controller outputs the manipulated variable u to the plant by inputting the target value r and the output y.

It is assumed that the disturbance d is input to the plant and the noise v is input when the output y is fed back to the controller. When the system constructed as described above is expressed by a transfer function, the following equation (1) can be established. The subscripts represent the output from the input. Further, C represents the transfer function of the controller, and P represents the transfer function of the plant.

この式（１）を変形すると、次の式（２）が得られる。

By transforming this equation (1), the following equation (2) is obtained.

ここで、入出力関係に着目すると、目標値ｒから出力ｙまでの閉ループ伝達関数Ｗ_ｒｙは、以下の式（３）によって与えられる。また、外乱ｄから出力ｙまでの閉ループ伝達関数Ｗ_ｄｙは、以下の式（４）によって与えられる。さらに、ノイズｖから出力ｙまでの閉ループ伝達関数Ｗ_ｖｙは、以下の式（５）によって与えられる。

Focusing on the input / output relationship, the closed-loop transfer function _Wry from the target value r to the output y is given by the following equation (3). Further, the closed loop transfer function W _dy from the disturbance d to the output y is given by the following equation (4). Furthermore, the closed-loop transfer function W _vy from the noise v to the output y is given by the following equation (5).

閉ループ伝達関数Ｗ_ｒｙは、操作量ｕが目標値ｒにどれだけ追従しているかを表す伝達関数であり、目標追従性の指標となる。閉ループ伝達関数Ｗ_ｄｙは、外乱ｄが操作量ｕに与える影響を表す伝達関数であり、低感度特性の指標となる。さらに、閉ループ伝達関数Ｗ_ｖｙは、観測されるノイズｖが操作量ｕに与える影響を表す伝達関数であり、ロバスト安定性の指標となる。

The closed-loop transfer function _Wry is a transfer function indicating how much the manipulated variable u follows the target value r, and serves as an index of the target followability. The closed-loop transfer function W _dy is a transfer function that expresses the influence of the disturbance d on the manipulated variable u, and is an index of the low sensitivity characteristic. Furthermore, the closed-loop transfer function W _vy is the observed noise v is the transfer function representing the effect on the operation amount u, the robust stability index.

Next, by modifying the equation (4), the following equation (6) is obtained.

したがって、Ｃ_ｒｕ、Ｃ_ｙｕとＷ_ｄｙは、式（３）、（４）、（５）からそれぞれ、以下の式（７）、（８）、（９）で表せる。

Therefore, C _ru , C _yu, and W _dy can be expressed by the following equations (7), (8), and (9) from the equations (3), (4), and (5), respectively.

以上の式から所望する閉ループ伝達特性に応じてコントローラを設計できる。そこで、次に、本例の制御系について考えると、本例の制御系は、図４に示すように、プラントがアクティブマスダンパ１と構造物Ｓであり、構造物Ｓの加速度を出力ｙとして加速度センサ４で検知し、制御部５は出力ｙの入力を受けて変位指令Ｕを出力する。なお、制御部５に入力される加速度である出力ｙには、ノイズｖが重畳される。そして、図３に示した外乱ｄは、図４に示した制御系では、構造物Ｓに作用する風や地震による入力に置き換えられる。

From the above equation, the controller can be designed according to the desired closed loop transmission characteristic. Next, considering the control system of this example, as shown in FIG. 4, the plant is the active mass damper 1 and the structure S, and the acceleration of the structure S is used as the output y. Detected by the acceleration sensor 4, the control unit 5 receives the input of the output y and outputs the displacement command U. The noise v is superimposed on the output y, which is the acceleration input to the control unit 5. Then, the disturbance d shown in FIG. 3 is replaced with the input due to the wind or earthquake acting on the structure S in the control system shown in FIG.

Therefore, also established from the equation (7) (9) In the control system shown in FIG. 4, paying attention to equation (7) described above, by setting the desired closed loop characteristics W _vy, displacement command from the acceleration U The transfer function of the control unit 5 that outputs the above can be set.

That can be designed to set in advance a desired closed loop characteristics W _vy, the control unit 5 for generating displacement commands U by the input of the acceleration detected by the acceleration sensor 4 from the closed loop characteristics. In this way, it is possible to realize the control unit 5 that obtains the optimum displacement command U for suppressing the vibration of the structure S from the acceleration. In this way, the transfer function in the control unit 5 is set, and the control unit 5 outputs the displacement command U by inputting the acceleration.

The displacement command U is a command for instructing the displacement of the movable mass 2 from the center of the stroke. When the servo amplifier 7 receives the input of the displacement command U from the control unit 5, the servo amplifier 7 drives the actuator 3 to drive the movable mass 2. Is moved to the position according to the displacement command U.

When the movable mass 2 is driven in this way, the movable mass 2 reciprocates with a phase and amplitude that can attenuate the vibration of the structure S, and suppresses the vibration of the structure S. Then, the controller C as the control device of the present invention is a control that generates a displacement command U that instructs the displacement of the movable mass 2 only from the acceleration sensor 4 that detects the acceleration of the structure S and the acceleration detected by the acceleration sensor 4. Since the actuator 3 is controlled by the displacement command U and includes the portion 5, an error is unlikely to occur in the displacement of the movable mass 2. Further, since the displacement command U is generated from the acceleration without performing the process of integrating the acceleration, no phase delay occurs in control. From the above, according to the controller (control device) C and the active mass damper 1 of the present invention, errors are less likely to occur in the displacement of the movable mass 2 and the phase delay in control can be eliminated, so that the structure S can be effectively damped. Since it can be made, the vibration damping performance can be improved. Further, in the active mass damper 1 of this example, since the displacement command is generated based on the transfer function from the displacement command U to the acceleration of the structure S, the displacement command is directly generated from the acceleration without the process of integrating the acceleration in the middle. The displacement command U can be generated.

As shown in FIG. 5, a feedback control unit 8 is provided between the control unit 5 and the servo amplifier 7, and the displacement of the movable mass 2 is fed back to displace the movable mass 2 with respect to the displacement command U of the movable mass 2. You may improve the followability of. Further, if the feedback control unit 8 is provided, it is possible to cope with the case where the servo amplifier 7 does not correspond to the displacement control of the actuator 3. In this example, a displacement sensor 9 that detects the displacement of the movable mass 2 is provided, and the feedback control unit 8 generates a command given to the servo amplifier 7 from the deviation between the displacement command U and the displacement. When the servo amplifier 7 controls the speed of the actuator 3, as shown in FIG. 5, the feedback control unit 8 generates a speed command given to the servo amplifier 7 from the deviation between the displacement command U and the displacement sensor 9. Further, when the servo amplifier 7 controls the actuator 3 by force or torque in this example, as shown in FIG. 6, the feedback control unit 8 generates a speed command from the deviation between the displacement command U and the displacement, and the speed command is generated. Is differentiated to obtain the velocity of the movable mass 2, and a force command may be generated from the deviation between this velocity and the velocity command. The feedback control unit 8 may perform compensation suitable for damping the structure S among compensations such as P compensation, PI compensation, and PID compensation.

Further, as shown in FIG. 7, a gain multiplication unit 10 may be provided after the control unit 5. When the gain multiplication unit 10 is installed, the presence or absence of the feedback control unit 8 and the displacement sensor 9 can be arbitrarily selected. The gain multiplying unit 10 obtains a correction gain Ka based on the displacement command level Ur, which is the magnitude of the displacement command U, and the stroke limit value Sr of the movable mass 2, and multiplies the displacement command U by the correction gain Ka. It is output as the corrected displacement command U'.

Specifically, the gain multiplication unit 10 calculates Ka = Sr / Ur to obtain the correction gain Ka. The displacement command level Ur is a value indicating the magnitude of the displacement command U, not the instantaneous value, and corresponds to the amplitude of the fluctuating displacement command U, that is, the peak value. In order to obtain the displacement command level Ur, the peak value of the displacement command U may be simply detected, but in order to obtain the displacement command level Ur in a timely manner, Japanese Patent Application Laid-Open No. 2013-170980 and Japanese Patent Application Laid-Open No. 2015-57961 The method disclosed in the Gazette can be used. Specifically, a composite vector of the differential value or the integrated value of the displacement command U and the displacement command U corrected by the angular frequency ω may be obtained and used as the displacement command level Ur, or the displacement command U and a plurality thereof may be obtained. The maximum value obtained by processing with the phase change filter of may be set as the displacement command level Ur.

In this example, the stroke limit value Sr is set to the displacement value (maximum displacement value) when the maximum stroke of the movable mass 2 is made from the center of the stroke, but it is set to a value obtained by subtracting the safety margin from the maximum displacement value. You may.

In this way, when the displacement command U is multiplied by the correction gain Ka, the corrected displacement command U'= U × (Sr / Ur) is obtained, and the value U / Ur is the displacement command U divided by the displacement command level Ur. Since it is a value, it is always a value of 1 or less. Therefore, even when the displacement command U specifies a value at which the movable mass 2 cannot be displaced, the corrected displacement command U'always specifies a value at which the movable mass 2 can be displaced. Therefore, the displacement command U does not instruct the displacement exceeding the stroke limit of the movable mass 2, and the corrected displacement command U'matches the phase of the displacement command U. Therefore, when the gain multiplication unit 10 is provided, even if the displacement command U that exceeds the stroke limit of the movable mass 2 is generated, the movable mass 2 is displaced within the allowable stroke range and the structure S vibrates. It can exert a suppressing effect.

Further, the gain multiplication unit 10 may obtain the correction gain Ka by performing a map calculation from the index value I using the index value I obtained by dividing the displacement command level Ur by the stroke limit value Sr as a parameter.

As shown in FIG. 8, the map shows the relationship between the index value I and the correction gain Ka. When the index value I is 1 or less, the correction gain Ka is set to 1, and the index value exceeds 1 and is set to 1 or more. When the set value α or less is set, the correction gain Ka descends in a parabolic manner, and when the index value I exceeds the set value α, the correction gain Ka decreases in inverse proportion to the index value I. The index value I is I = Ur / Sr, and when the displacement command level Ur becomes larger than the stroke limit value Sr, the correction gain Ka becomes smaller.

In this example, specifically, in the map shown in FIG. 8, the set value α is set to 2, Ka = 1 in the range of I ≦ 1, and Ka = −0. In the range of 1 <I ≦ α. 2 (I−α) ² + 1, that is, Ka = −0.2 (I-2) ² + 1, and in the range of α <I, Ka = 1.6 / I. With this setting, when the index value I is 1, the values of Ka = 1 and Ka = −0.2 (I-2) ² + 1 match, and the slopes of both match. Further, when the index value I is 2, the values of Ka = −0.2 (I-2) ² + 1 and Ka = 1.6 / I match, and the slopes of both match. Therefore, when the map is set in this way, the correction gain Ka does not change suddenly continuously when the index value I changes across 1 and α.

As described above, when the index value I is 1 or less, the correction gain Ka is set to 1, and when the index value exceeds 1 and is set to 1 or more, the correction gain Ka decreases in a parabolic manner and the index value is set to 1 or more. If the map is set so that the correction gain Ka decreases in inverse proportion to the index value I when I exceeds the set value α, the correction gain Ka continues when the index value I changes across the set value α and 1. And it doesn't change suddenly. Therefore, since the value of the displacement command U'after correction does not suddenly change due to the correction gain Ka, there is no possibility that vibration occurs in the speed of the movable mass 2 and the vibration suppressing effect of the structure S is reduced.

In this case, when the displacement command level Ur becomes twice the stroke limit value Sr, the index value I becomes 2 and the correction gain Ka becomes 0.8. In this case, the upper limit of the corrected displacement command U'is 1.6 times the stroke limit value Sr, so the value of the stroke limit value Sr is equal to or less than the value obtained by dividing the maximum displacement value by 1.6 in advance. If set to, it is possible to block the instruction of displacement exceeding the maximum displacement value. By setting the map for obtaining α and Ka in this way, the stroke limit value Sr may be set to be appropriately optimized. Further, the value of α, the formula of the parabola in the range of 1 <I ≦ α, and the formula of inverse proportional to the index value I in the range of α <I can be changed so as to be suitable for damping the structure S.

Although the preferred embodiments of the present invention have been described in detail above, modifications, modifications, and changes can be made as long as they do not deviate from the claims.

1 ... Active mass damper, 2 ... Movable mass, 3 ... Actuator, 4 ... Accelerometer, 5 ... Control unit, 8 ... Feedback control unit, 9 ... Displacement sensor, 10 ... Gain multiplication unit, C ... Controller (control device), S ... Structure

Claims (5)

A movable mass that can be reciprocated with respect to the structure,
The actuator that drives the movable mass and
A control unit that controls the actuator and
It is equipped with an acceleration sensor that detects the acceleration of the structure.
The control unit is active, characterized in that the displacement command is generated only from the acceleration detected by the acceleration sensor based on the transfer function from the displacement command indicating the displacement of the movable mass to the acceleration of the structure. Mass damper. The displacement command level, which is the magnitude of the displacement command, and the stroke limit value of the movable mass are used to obtain the correction gain to be multiplied by the displacement command, and the displacement command is provided with a gain multiplying unit for multiplying the correction gain. The active mass damper according to claim 1. The gain multiplication unit is
Using the index value obtained by dividing the displacement command level by the stroke limit value as a parameter
When the index value is 1 or less, the correction gain is set to 1, and when the index value exceeds 1 and is set to 1 or more, the correction gain decreases in a parabolic manner, and the index value is the set value. The active mass damper according to claim 2, wherein the correction gain is obtained by using a map in which the correction gain decreases in inverse proportion to the index value. A displacement sensor that detects the displacement of the movable mass and
The active mass damper according to any one of claims 1 to 3, further comprising a feedback control unit that performs feedback control based on the displacement command and the displacement of the movable mass detected by the displacement sensor. .. An active mass damper control device that controls an actuator that drives a movable mass that is reciprocally installed with respect to a structure.
The control device includes an acceleration sensor that detects the acceleration of the structure.
Based on the transfer function from the displacement command indicating the displacement of the movable mass to the acceleration of the structure, the displacement command indicating the displacement of the movable mass is generated only from the acceleration detected by the acceleration sensor. Active mass damper control device.

Images