JP7340832B2 - Vibration suppressor - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act Dynamics & Design Conference 2018 Proceedings, Lecture No. 224, Japan Society of Mechanical Engineers, August 20, 2018 Dynamics & Design Conference 2018 Tokyo University of Agriculture and Technology Koganei Campus, 1991 0 years August 30th

The present invention relates to a vibration suppression device suitable for suppressing vibrations in high-rise buildings.

As a vibration suppression device for suppressing vibrations of a building due to seismic motion, there is an active mass damper that includes a movable mass installed in a high-rise building so as to be able to reciprocate and an actuator that drives the movable mass.

An active mass damper suppresses the vibration of a building by driving a movable mass to cancel out the vibration of the building when the building vibrates due to earthquake motion or the like. Therefore, the active mass damper includes a controller for controlling the actuator.

For example, the controller in a conventional active mass damper uses the seismic force measured by a seismometer and the images taken by a camera installed on the ground of target markers installed on each layer of a building. Based on the displacement of the building, an actuator drives the mass to apply a damping force to the building to suppress vibrations (for example, see Patent Document 1).

Japanese Patent Application Publication No. 2008-075297

In recent years, buildings have become taller, and high-rise buildings with a height of 100 meters, called skyscrapers, are being constructed.Even in Japan, tall high-rise buildings with long natural periods are being constructed. things are increasing. On the other hand, it is known that large-scale earthquakes generate long-period ground motions with periods as long as 2 to 20 seconds, and high-rise buildings with long natural periods can vibrate greatly due to long-period ground motions. countermeasures are needed.

Conventional active mass dampers suppress building vibration by solving equations of motion that express the balance between seismic force and building displacement, velocity, and acceleration using the seismic force and building displacement that are input each time. . Since seismic force is nothing but acceleration acting on the ground, it is detected by an acceleration sensor.

However, with slow, low-frequency vibrations, acceleration sensors do not apply a large amount of acceleration, resulting in a low signal-to-noise ratio, and it is necessary to remove drift components, which lowers acceleration detection accuracy. It is not suitable for detection.

Therefore, if a conventional active mass damper, which detects seismic force with an acceleration sensor and uses this seismic force to suppress low-frequency vibrations, is used to suppress vibrations in high-rise buildings, it will be possible to sufficiently suppress vibrations in high-rise buildings. There is a possibility that it cannot be done.

There are also vibration suppression devices that install acceleration sensors in buildings to detect the vibrations of the building and obtain damping force, but acceleration sensors tend to pick up high-frequency vibrations that increase acceleration, so it is important to suppress them. There is a risk that higher-order vibrations will be detected more strongly than lower-order mode vibrations, and the active mass damper will instead excite higher-order mode vibrations.

Therefore, an object of the present invention is to provide a vibration suppression device that is optimal for suppressing vibrations in high-rise buildings.

In order to achieve the above object, the vibration suppression device of the present invention includes a movable mass that is installed in a reciprocating manner with respect to a high-rise building with a natural period of 2 seconds or more in a low-order mode, and a movable mass that drives the movable mass. a vibration suppressor that suppresses vibrations in a high-rise building by having an actuator, a displacement detector that detects displacement between the high-rise building and the ground, and a movable mass that is based only on the displacement detected by the displacement detector. and a controller that generates a control command instructing the displacement of the high-rise building and performs control to suppress low-order mode vibrations of the high-rise building.

With the vibration suppression device configured in this way, it is possible to block the displacement of a high-rise building caused by higher-order mode vibrations, and accurately detect the slow, large-amplitude displacement of high-rise buildings due to lower-order mode vibrations. The controller performs control to suppress low-order mode vibrations of high-rise buildings based on the displacement detected by the displacement detector, so it can effectively suppress low-order mode vibrations of high-rise buildings even during long-period earthquake motions. It can be suppressed.

The vibration suppression device further includes an acceleration detector that detects horizontal acceleration of the high-rise building, and the controller suppresses higher-order mode vibration of the high-rise building based only on the acceleration detected by the acceleration detector. Control may also be performed. According to the vibration suppression device configured in this manner, vibrations in a wide frequency band from low-order modes to high-order modes of high-rise buildings can be efficiently suppressed.

The vibration suppression device may also be configured such that the displacement detector detects displacement between the top layer of the high-rise building and the ground. According to the vibration suppression device configured in this way, it is possible to more effectively suppress low-order mode vibrations of a high-rise building.

Furthermore, the vibration suppression device may include a displacement detector that detects displacement between the ground and a layer of a high-rise building that has a small displacement with respect to higher-order mode vibrations, and the vibration suppression device configured in this way According to the device, low-order mode vibrations of high-rise buildings can be suppressed more effectively.

Further, in the vibration suppression device, the displacement detector may include a target and a camera capable of photographing the target, and the displacement may be detected using image processing. The vibration suppression device configured in this manner can constitute a displacement detector using an inexpensive device, and can easily detect displacement between the top layer of a high-rise building and the ground.

The vibration suppression device of the present invention is optimal for suppressing vibrations in high-rise buildings.

It is a figure in which the vibration suppression device in one embodiment is applied to a high-rise building. FIG. 3 is a control block diagram of a controller of the vibration suppression device in one embodiment. FIG. 2 is a configuration diagram of a displacement detector in a vibration suppression device in an embodiment.

The present invention will be described below based on the embodiments shown in the figures. As shown in FIGS. 1 and 2, the vibration suppressing device 1 in one embodiment is designed to suppress vibrations in a high-rise building S. It is installed in

As shown in FIGS. 1 and 2, the vibration suppressor 1 includes a movable mass 3 that is installed to be able to reciprocate with respect to a high-rise building S, and an actuator 4 that drives the movable mass 3. 2, a displacement detector 5 that detects the relative displacement between the top floor Sh of the high-rise building S and the ground G on which the high-rise building S is installed, and a horizontal acceleration of the top floor Sh of the high-rise building S. It is configured to include an acceleration detector 6 that detects the acceleration, and a controller 7. The controller 7 of this embodiment generates a control command to be given to the actuator 4 in the vibration suppressor 2 based on the displacement detected by the displacement detector 5 and the acceleration detected by the acceleration detector 6 to suppress vibration. control device 2.

Each part will be explained in detail below. As shown in FIG. 1, the movable mass 3 is installed so that it can run and reciprocate on a guide rail 8 provided on the top floor of a high-rise building S. The actuator 4 is, for example, a telescopic electric cylinder driven by a motor, and causes the movable mass 3 to reciprocate along the guide rail 8 with respect to the high-rise building S. Note that the configuration of the actuator 4 is not limited to that described above, and may be a telescopic hydraulic cylinder. In this example, since the actuator 4 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 4 into linear motion of the movable mass 3. A pinion may also be used. In this embodiment, the vibration suppressor 2 is configured as an active mass damper that damps the vibrations of the high-rise building S by reciprocating the movable mass 3. Other systems that can be inhibited may also be employed.

As shown in FIG. 3, the displacement detector 5 includes a camera 5a installed on the top floor Sh of the high-rise building S, a target 5b installed in the photographing range of the camera 5a on the ground G, and an image processing unit 5c. It is configured with. The camera 5a photographs the target 5b and the surrounding area of the target 5b at a predetermined sampling period, and inputs image data to the image processing section 5c. The image processing unit 5c uses the image data of the target 5b as a template and calculates the coordinate position of the target 5b based on the matching rate between the template and the sequentially photographed images, and calculates the coordinate position of the target 5b when the high-rise building S is in a neutral position with respect to the ground G. The displacement of the high-rise building S with respect to the ground G is determined from the deviation from the coordinate position of the target 5b that should be located at the target 5b.

In this case, since the vibration suppressor 2 is an active mass damper, the displacement detector 5 detects the displacement of the top layer Sh of the high-rise building S in a direction that corresponds to the moving direction of the movable mass 3, and the controller The detected displacement is input to 7 as a signal. Note that the displacement detector 5 determines the displacement of the top layer Sh from the position of the target 5b in the image taken by the camera 5a, so it can also detect displacement in directions other than the moving direction of the movable mass 3. The displacement in the direction that corresponds to the direction of movement of No. 3 is determined and input to the controller 7.

The image processing unit 5c detects the displacement by template matching as described above, but the time required to calculate the position of the target 5b can be shortened by using the coarse-grained search method. Note that the displacement detector 5 can detect the displacement of the high-rise building S at low cost by using the camera 5a, but it may also detect the displacement by using a laser or radio waves. Furthermore, the camera 5a may be installed on the ground G and the target 5b may be installed on the top floor Sh of the high-rise building S, but when the controller 7 is installed on the same top floor Sh as the vibration suppressor 2, Since wiring becomes easy, it is preferable to provide the camera 5a on the top layer Sh. The displacement detector 5 may detect the absolute displacement of the high-rise building S like a GPS (Global Positioning System), and in that case, the controller 7 may process the absolute displacement to obtain a control command to be described later. good.

Note that when the camera 5a is installed on the side of the high-rise building S, the lens (not shown) of the camera 5a can be directed downward, which has the advantage of suppressing lens dirt and rain from adhering to the lens. Furthermore, if the high-rise building S has an atrium and it is possible to photograph the target 5b from the camera 5a through the atrium, the camera 5a and the target 5b may be placed indoors so that they are not affected by lens dirt or rain. Can be done. Further, the displacement detector 5 may detect horizontal displacement between layers of the high-rise building S.

The acceleration detector 6 is installed in the high-rise building S in order to detect the acceleration acting on the top layer Sh of the high-rise building S, and the detected acceleration is input to the controller 7 as a signal. The acceleration detection direction of the acceleration detector 6 is made to match the moving direction of the movable mass 3.

Upon receiving the signals of the displacement detected by the displacement detector 5 and the acceleration detected by the acceleration detector 6, the controller 7 processes the signals to generate a control command and drives the actuator 4.

The controller 7 includes a control command calculating section 7a that generates a control command U based on input of displacement and acceleration, and a servo amplifier 7b that drives the actuator 4.

In this embodiment, the control command calculation unit 7a adjusts the frequency of the low-order mode so that vibrations in the low-order mode with a vibration period of about 2 seconds or more and vibrations in a high-order mode with a vibration period of less than 2 seconds can be suppressed. The controller performs vibration suppression control by feedback by setting in advance the damping given to the vibration of the band and the damping given to the vibration of the higher mode frequency band. Further, the control command calculation unit 7a is a controller with appropriately arranged poles in order to improve the convergence speed of the closed-loop response. In this way, the control command calculation unit 7a mainly uses displacement, since displacement is dominant in suppressing low-order mode vibrations in which the period of the high-rise building S is 2 seconds or more. In order to suppress vibrations in which acceleration in a higher order mode is predominant, a control command U is obtained by performing feedback control mainly using acceleration.

The control command U is a command instructing the displacement of the movable mass 3 from the stroke center, and when the servo amplifier 7b receives the input of the control command U from the control command calculating section 7a, it drives the actuator 4 to move the movable mass 3. Move the square 3 to the position according to the control command U.

In this way, when the movable mass 3 is driven, the movable mass 3 reciprocates with a phase and amplitude that can damp the vibrations of the high-rise building S, thereby suppressing the vibrations of the high-rise building S. do.

The control command calculation unit 7a determines the amount of operation of the actuator 4 for suppressing the low-order mode vibration of the high-rise building S from the displacement of the top layer Sh of the high-rise building S detected by the displacement detector 5, The amount of operation of the actuator 4 for extracting the acceleration in the frequency band of the high-order mode of the high-rise building S from the acceleration detected by the acceleration detector 6, and suppressing the vibration of the high-order mode of the high-rise building S from the extracted acceleration. The control command U may be determined from the two manipulated variables.

As mentioned above, the vibration suppressor 1 includes a vibration suppressor 2 installed in a high-rise building S with a low-order mode natural period of 2 seconds or more to suppress vibrations of the high-rise building S, and a vibration suppressor 2 that suppresses vibrations of the high-rise building S and the ground. A displacement detector 5 that detects the displacement between G and G, and a controller 7 that performs control to suppress low-order mode vibration of the high-rise building S based on the displacement detected by the displacement detector 5. has been done.

When a low-frequency seismic motion is input, the low-order mode vibration of the high-rise building S becomes an extremely low-frequency vibration, but its amplitude becomes large, so that the displacement detector 5 can detect a large displacement. In addition, the displacement of the high-rise building S becomes small due to vibrations in higher-order modes that have a higher frequency than lower-order modes. Therefore, when the displacement detector 5 detects the displacement of the high-rise building S where the natural period of the low-order mode is 2 seconds or more, the displacement detector 5 often detects the displacement due to the vibration of the low-order mode, but the displacement due to the vibration of the high-order mode is detected by the displacement detector 5. Difficult to detect displacement due to vibration. In other words, the displacement detector 5 can block displacement of the high-rise building S due to vibrations in higher-order modes, and accurately detect slow and large-amplitude displacements of the high-rise building S due to vibrations in low-order modes.

In the vibration suppression device 1 of the present embodiment, the controller 7 performs control to suppress low-order mode vibrations of the high-rise building S based on the displacement detected by the displacement detector 5. The low-order mode vibrations of the high-rise building S can be effectively suppressed even against long-period earthquake motions that cause vibrations that cause the high-rise building S with a natural period of 2 seconds or more to vibrate slowly but greatly. Therefore, the vibration suppression device 1 of this embodiment is optimal for suppressing the vibrations of the high-rise building S.

The vibration suppression device 1 of the present embodiment further includes an acceleration detector 6 that detects the horizontal acceleration of the high-rise building S, and the controller 7 detects the acceleration of the high-rise building based on the acceleration detected by the acceleration detector 6. Control is performed to suppress higher-order mode vibrations of the object S. Although it is difficult for the acceleration detector 6 to pick up extremely small accelerations due to low-order mode vibrations of the high-rise building S, it is easy to detect accelerations due to high-order mode vibrations. Furthermore, the S/N ratio of acceleration due to high-order mode vibrations detected by the acceleration detector 6 is large, and even if this acceleration is processed with a high-pass filter to remove drift components, the acceleration due to high-frequency high-order mode vibrations still remains. is difficult to remove. Therefore, the acceleration detector 6 can detect the acceleration of higher-order mode vibration of the high-rise building S as an acceleration that is less affected by noise and the like. In the vibration suppression device 1 of the present embodiment, in addition to the control that the controller 7 performs to suppress the low-order mode vibrations of the high-rise building S based on the displacement detected by the displacement detector 5, Since control is performed to suppress high-order mode vibrations of the high-rise building S based on the detected acceleration, vibrations in a wide frequency band from low-order modes to high-order modes of the high-rise building S can be efficiently suppressed.

Further, the controller 7 can be set so that when there is an abnormality in the displacement detector 5, the acceleration detected by the acceleration detector 6 is used for control to suppress vibrations in a lower mode. According to the vibration suppressing device 1 set in this way, even if there is an abnormality in the displacement detector 5, a vibration suppressing effect equivalent to that of a conventional vibration suppressing device can be obtained, and vibration suppressing control can be continued. Note that if there is an abnormality in the acceleration detector 6, the vibration suppressing device 1 only needs to perform control to suppress vibrations in a lower mode using the displacement detected by the displacement detector 5. For detecting abnormalities in the displacement detector 5 and the acceleration detector 6, for example, the displacement detector 5 and the acceleration detector 6 having a self-diagnosis function may be used.

Moreover, in the vibration suppression device 1 of this embodiment, the displacement detector 5 detects the displacement between the top layer Sh of the high-rise building S and the ground G. In this way, when the displacement detector 5 detects the displacement between the top floor Sh and the ground G, it is the top floor Sh that has the maximum amplitude with respect to the ground G among the high-rise buildings S, so the displacement detector 5 detects the displacement between the top floor Sh and the ground G. 5, displacement detection becomes easy. Furthermore, the displacement detector 5 detects the relative displacement of the top layer Sh with respect to the ground G. Although it is not possible to determine how much the high-rise building S is vibrating relative to the ground G, the displacement detector 5 can detect the relative displacement between the high-rise building S and the ground G. , it is possible to perform vibration suppression control that matches the actual vibration state of the high-rise building S. Therefore, according to the vibration suppressing device 1 configured in this way, it is possible to suppress the low-order mode vibrations of the high-rise building S more effectively.

Note that the displacement detector 5 may detect the displacement between the ground G and a layer of the high-rise building S that is less displaced with respect to higher-order mode vibrations. If the displacement detector 5 detects the displacement between the layer with less vibration in the higher mode and the ground G, the displacement detector 5 can detect the displacement mainly caused by the displacement component due to the vibration in the lower mode. , it is possible to detect displacement due to lower-order mode vibrations with higher accuracy. Therefore, according to the vibration suppressing device 1 configured in this way, it is possible to suppress the low-order mode vibrations of the high-rise building S more effectively.

Further, in the vibration suppressing device 1 of this embodiment, the displacement detector 5 includes a target 5b and a camera 5a capable of photographing the target 5b, and detects displacement using image processing. In the vibration suppression device 1 configured in this way, the displacement detector 5 can be configured with inexpensive devices such as the camera 5a, the target 5b, and the image processing unit 5c that processes images, and the Displacement between the two can also be easily detected.

Although the preferred embodiments of the present invention have been described in detail above, modifications, variations, and changes can be made without departing from the scope of the claims.

DESCRIPTION OF SYMBOLS 1... Vibration suppressor, 2... Vibration suppressor, 5... Displacement detector, 5a... Camera, 5b... Target, 6... Acceleration detector, 7... Controller , G...ground, S...high-rise building

Claims (5)

A vibration that suppresses vibrations of the high-rise building by having a movable mass that is installed to be able to reciprocate in a high-rise building with a natural period of a low-order mode of 2 seconds or more, and an actuator that drives the movable mass. a suppressor;
a displacement detector that detects displacement between the floors of the high-rise building or displacement between the high-rise building and the ground;
a controller that generates a control command instructing the displacement of the movable mass based only on the displacement detected by the displacement detector, and performs control to suppress the low-order mode vibration of the high-rise building. A vibration suppression device characterized by: further comprising an acceleration detector that detects horizontal acceleration of the high-rise building,
The vibration suppression device according to claim 1, wherein the controller performs control to suppress higher mode vibrations of the high-rise building based only on the acceleration detected by the acceleration detector. The vibration suppression device according to claim 1 or 2, wherein the displacement detector detects displacement between the top layer of the high-rise building and the ground. The vibration suppression device according to claim 1 or 2, wherein the displacement detector detects displacement between the ground and a layer of the high-rise building that is less displaced with respect to higher-order mode vibrations. Device. The displacement detector according to any one of claims 1 to 4, includes a target and a camera capable of photographing the target, and detects the displacement using image processing. Vibration suppressor.

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