JPH01207575A - Vibrationproof device for construction - Google Patents

Abstract

PURPOSE:To reduce an additional weight and reduce the electric power necessary for driving an actuator by installing a supporting body which can be swung in the horizontal direction and a fluid damper which extends and contracts in the horizontal direction, between the first and second foundations. CONSTITUTION:A supporting body 13 which swings in the horizontal direction and fluid damper 14 which extends and contracts in the horizontal direction are inserted between the second foundation (ground) 2 and the first foundation 12 installed in the lower part of a construction 1 onto which the first, second, and the third vibration detectors 3, 11, and 15 are installed. When a vibration input due to the external force of an earthquake, etc. acts onto the ground 2, the accelerating speed generated on the first foundation 12 is reduced by the supporting body 13 and the fluid damper 14. Further, a control power acting onto the structure 1 by an actuator 6 and an additional weight 8 is reduced by reducing the accelerating speed generated on the structure 1, and a part mounted onto the structure 1 is allowed to constitute a small-sized vibrationproof device with high performance.

Description

Detailed Description of the Invention [Industrial Field of Application] This invention is applicable to vibration damping devices that reduce vibrations of structures such as buildings, antennas, nuclear power control panels, etc.
In particular, the present invention relates to a servo damper that utilizes external energy through hydraulic, pneumatic, or electromagnetic control.

[Prior Art] FIG. 5 is a partially sectional configuration diagram showing a conventional vibration damping device for a structure disclosed in, for example, Japanese Unexamined Patent Publication No. 123675/1982. In the figure, numeral 1 indicates a structure that generates vibrations when subjected to an external force such as an earthquake, such as a building, an antenna, a nuclear power control panel, etc. 2 is the ground on which the structure 1 is installed, and 3 is a first vibration detector that detects horizontal vibration of the structure 1, which is an accelerometer in this example. A second vibration detector 11 detects horizontal vibration of the additional weight 8, and is an accelerometer in this example. 4 is the first of these. This is a control circuit that controls the actuator 6 based on the detection signal from the second vibration detector 3.11 and drives the additional weight 8 coupled to the drive section 7 of the actuator 6. Reference numeral 9 represents a mounting base for fixing the stationary portion of the actuator 6 to the structure 1, and 10 represents a spring inserted between the additional weight 8 and the structure 1.

FIG. 6 is a block diagram showing a control system for the vibration damping device of the structure shown in FIG. In the figure, 3 is a first vibration detector, 11 is a second imaging detector, 6 is an actuator, and 4
is a control circuit, 4a, 4b, and 4c in this control circuit 4 are integrating circuits, and 4e is an arithmetic circuit.

FIG. 7 is an enlarged sectional view showing an example of the actuator in the vibration damping device for the structure shown in FIG. In the figure, 6 is an actuator, 6a is a cylindrical permanent magnet, 6b is a cylindrical center ball, 6C is an excitation yoke, 6d is a drive coil, and 6e is a support that supports the drive coil 6d.
An additional weight 8 is fixed to the other end of the support 6e, so that it can be driven in a straight line and back and forth. The stationary part of the actuator 6 is fixed to the structure l via a stand 9. In addition, 7 is a drive portion of the actuator 6, and 10 is a spring.

Next, the operation of the conventional vibration damping device for a structure will be explained with reference to FIGS. 5 to 7. When a structure vibrates horizontally due to ground vibration caused by an external force such as an earthquake,
The vibration acceleration of this structure l is detected by the first vibration detector 3, and the vibration acceleration of the additional weight 8 is detected by the second vibration detector 11.
are detected as electrical signals. This electric signal is transmitted to the control circuit 4, and is integrated by the integrating circuits 4a and 4b to become a vibration velocity signal.The vibration velocity signal of the structure l transmitted via the integrating circuit 4a is integrated by the integrating circuit 4c. This becomes the imaging displacement signal. The signals from each of the integrating circuits 4a to 4C are in phase with each other.

The arithmetic circuit 4e performs addition and subtraction to adjust the gain and obtain the required output, and the power is amplified based on the output signal of the arithmetic circuit 4e to control the actuator 6 and drive the additional weight 8. In this way, the first vibration detector 3 detects the vibration of the structure 1 and the second vibration detector 3 detects the imaging of the additional weight 8.
A feedback servo mechanism is configured to drive the actuator 6 in response to a detection signal from the vibration detector 11.

Further, the control signal from the control circuit 4, that is, the drive current, is supplied to the drive coil 6d of the actuator 6, and as a result, an electromagnetic force is generated in the drive coil 6d due to the electromagnetic effect, which supports the drive coil 6d. e. Drive the additional weight 8 horizontally via the drive unit 7.

At this time, the functions of the integrating circuits 4a to 4c and the arithmetic circuit 4e in the control circuit 4 are as follows. First, the control system from the first vibration detector 3 to the actuator 6 via the integrating circuit 4a has a function of applying a damping force, which is a driving force, to the structure 1 according to the vibration speed of the structure 1, The damping characteristics of the structure 1, that is, the dynamic stiffness is improved. Integrating circuit 4
The control system from c to the actuator 6 has a function of applying a driving force to the structure l according to the vibrational displacement of the structure l, and improves the spring characteristics, that is, the static characteristics of the structure l. The control system from the second vibration detector 11 attached to the additional weight 8 to the actuator 6 via the integrating circuit 4b generates a driving force according to the vibration speed of the additional weight 8. This applies a damping force to the weight 8 to suppress oscillation of the additional weight 8 and stabilize it.

[Problems to be Solved by the Invention] The conventional structure damping device described above is configured as described above, and is effective in improving the damping characteristics of the structure. In order to effectively reduce vibrations even when it acts on the structure 1, it is necessary to make the additional weight 8 very heavy or to drive the actuator 6, which requires a very large amount of electric power. There was a problem in that the equipment installed on the L was large.

This invention was made to solve the above-mentioned problems.The additional weight can be made smaller and lighter, and the electric power required to drive the actuator can be reduced, and the part mounted on the structure can be small and high-performance. The purpose is to obtain a vibration damping device for structures.

[Means for Solving the Problems] A vibration damping device for a structure according to the present invention can be used when vibration human force due to an external force such as an earthquake acts on a second foundation.

In order to reduce the acceleration acting on the structure installed on the first base, a horizontally swingable support and a horizontally expandable fluid damper are installed, and an actuator attached to the structure is installed. , an additional weight driven by the actuator, a first vibration detector that detects vibrations of the structure, a second vibration detector that detects vibrations of the additional weight, and a first vibration detector that detects vibrations of the first base. controlling the actuator based on each detection signal from the third vibration detector, the first vibration detector, the second vibration detector, and the third vibration detector;
By being equipped with a control circuit that drives the additional weight,
It is designed to generate vibration damping force in the structure.

[Operation] In the structure vibration damping device of the present invention, when vibration human force due to an external force such as an earthquake acts on the second base, a support body that can swing horizontally and a fluid damper that expands and contracts horizontally are used. Since the acceleration generated in the first base is reduced, the acceleration acting on the structure is reduced, and furthermore, the vibration of the structure generated by external vibration human force is suppressed by causing the structure to elastically deform. When the structure is divided into a rigid mode in which it vibrates rigidly and an elastic mode in which the structure deforms elastically, an actuator mounted on the structure and an elastic mode are used to generate a control force for this elastic mode. Since the control force applied to the structure by the additional weight can be reduced, the additional weight can be made smaller and lighter, and the electric power required to drive the actuator can be reduced, which allows the parts mounted on the structure to be smaller. A high-performance vibration damping device for structures can be obtained.

[Example] Fig. 1 is a partial cross-sectional configuration diagram showing a vibration damping device for a structure which is an embodiment of the present invention, and Fig. 2 is a perspective view showing a support in the vibration damping device for a structure shown in Fig. 1. It is a diagram. In FIG. 1, 13 is a support inserted between the first base 12 and the 20th foundation 2 (corresponding to the ground shown in FIG. 5). Second
The structure of the support body 13 is shown in the figure, and in this example, it has a structure in which 20 to 30 metal plates 13a and 20 to 30 rubber plates 13b are laminated alternately. Further, the metal plates 13a on the upper and lower surfaces of the support body 13 are fixed to the first base 12 and the second base 2 by welding or the like, respectively, and are sufficiently rigid against loads in the vertical direction of the first base 12. Therefore, a soft splash characteristic can be realized in the horizontal direction of the first base 12. 14
is a fluid damper inserted between the first base plate 12 and the second base plate 2, which is a hydraulic damper in this example, and can expand and contract in the horizontal direction. Others In FIG. 1, 3 is a first vibration detector that detects vibrations in the horizontal direction of the structure 1;
In this example it is an accelerometer. A second vibration detector 11 detects horizontal vibration of the additional weight 8, and is an accelerometer in this example. A third vibration detector 15 detects horizontal vibration of the first base 12, and is an accelerometer in this example. 4 is a control circuit, and this control circuit 4 is connected to these first .
The actuator 6 is controlled based on the detection signals from the second and third vibration detectors 3, 11, and 15, and the additional weight 8 coupled to the drive section 7 of the actuator 6 is driven. Reference numeral 9 indicates a mounting base for fixing the stationary portion of the actuator 6 to the structure 1, and IO indicates a spring inserted between the additional weight 8 and the structure 1.

Now, the vibration reduction principle of the vibration damping device for a structure according to the present invention is based on the premise that the following equation is established when an external force such as an earthquake acts on the second foundation 2 and a control force acts on the structure l. shall be.

However, ml: Mass of support 13 CI = Attenuation l of support 13 (1: Rigidity xI of support 13 = Displacement of support 13 Ms: Mass of structure 1 Ks: Rigidity of structure 1 Displacement of object 1 1md:
Mass kd of additional weight 8: Rigidity xd of additional weight 8: Displacement ZH of additional weight 8: Earthquake human acceleration U: Control force Here, the control force U is configured as follows.

(J=Cq (xs-x+)-cdxd=(2)
'However, c5: Structure velocity feedback gain (improvement of dynamic stiffness targeting elastic mode) cd: Additional weight velocity feedback gain (stabilization) Substituting the above equation (2) into the above equation (1), m+ x
++ c +i++ k+x+, and the above (
3) As can be seen from the equation, each feedback gain Cg can be adjusted without affecting the closing dynamic characteristics of the support 13.
, Cd can improve each characteristic of the structure 1.

FIG. 3 is a block diagram showing a control system for the vibration damping device of the structure shown in FIG. In the figure, 4 is a control circuit, and 4a and 4b within this control circuit 4.

4c is an integrating circuit, 4d is a relative speed detector, and 4e is an arithmetic circuit. The integrating circuit 4a converts the vibration acceleration signal of the structure l detected by the first vibration detector 3 into a vibration velocity signal, and the integrating circuit 4c converts the vibration acceleration signal of the structure l detected by the third vibration detector 15 into a vibration velocity signal. The integrating circuit 4b converts the vibration acceleration signal of the additional weight 8 detected by the second vibration detector 11 into a vibration velocity signal. The relative velocity detector 4d detects a relative velocity signal between the vibration velocity signal of the structure 1, which is the output of the integrating circuit 4a, and the vibration velocity signal of the first base 12, which is the output of the integrating circuit 4c. The arithmetic circuit 4e also includes a relative speed detector 4d.
In response to the signals from the integrating circuit 4d, the phase and gain of each signal are adjusted and addition/subtraction is performed according to the above equation (3) so as to obtain the required output. The power is amplified based on the output of the arithmetic circuit 4e to control the drive of the actuator 6, thereby driving the additional weight 8. In this way, the first vibration detector 3 detects the vibration of the structure 1, the second vibration detector 11 detects the vibration of the additional weight 8, and the third vibration detector detects the vibration of the first base 12. A feedback servo mechanism is configured to drive the actuator 6 in accordance with the detection signal from the vibration detector 15.

Next, the operation of the vibration damping device for a structure, which is an embodiment of the present invention, will be explained with reference to FIGS. 1 and 3. When the second base 2 vibrates in the horizontal direction due to ground vibration caused by an external force such as an earthquake, the support body 13 undergoes shear deformation and absorbs this vibration, and the first base 12 receives 1/3 to 1 of the human power.
Only 15 vibrations occur. This makes it possible to obtain a so-called seismic isolation effect. Moreover, the vibration energy of the vibration generated in the first base plate 12 is dissipated by the fluid damper 14, and the vibration is quickly damped. Further, by adjusting the fluid damper 14, the relative displacement occurring between the first base plate 12 and the second base plate 2 can be limited to a predetermined range.

Therefore, when vibration human force due to an earthquake acts on the second foundation 2 in the horizontal direction, the structure l vibrates, but the vibration modes at that time are a rigid body mode in which the structure l vibrates like a rigid body, and a rigid body mode in which the structure l vibrates like a rigid body. can be expressed by a superposition of elastic modes that vibrate elastically. In the above equation (3), the structure velocity feedback gain Cs is proportional to the relative velocity (ΩsJ(+)) between the structure l and the first base 12, so it acts effectively only on the elastic mode, and on the rigid mode. In order to dampen the rigidity mode, it is necessary to generate a force using the additional weight 8 that reduces the right-hand side of the second equation (3) above. This requires a very large mass as the additional weight 8, which causes the device to become larger.In the vibration damping device for a structure according to the present invention, the acceleration generated by the rigid mode is suppressed by the above-mentioned seismic isolation effect. The acceleration generated by the elastic mode can be reduced by the portion mounted on the upper part of the structure 1 in the vibration damping device of the present invention.

Also, each integrating circuit 4a, 4b in the control circuit 4.

4c, the relative speed detector 4d, and the arithmetic circuit 4e have the following functions.

First, the control system that reaches the actuator 6 via the integrating circuit 4a, the integrating circuit 4C, and the relative speed detector 4d is connected to the structure l.
It has a function of applying a damping force, which is a driving force according to the vibration speed by the elastic mote, to the structure l, and improves the damping characteristics of the structure l, that is, the dynamic rigidity. Further, the control system that reaches the actuator 6 via the integrating circuit 4b generates a driving force according to the vibration speed of the additional weight 8, which applies a damping force to the additional weight 8, and This is to suppress oscillation and stabilize it.

Figure 4 shows the magnitude of the vibration acceleration generated in the structure and the actuator when ground vibration is applied to the vibration damping device for a structure according to an embodiment of the present invention and the conventional vibration damping device for a structure. FIG. 3 is a characteristic diagram comparing and showing the relationship between the amount of electric power required to drive the motor and the mass of the weight. In FIG. 4, the solid line shows the case using a vibration damping device for a structure according to an embodiment of the present invention, the dotted line shows the case using a conventional vibration damping device for a structure, and the square mark indicates the structure 1. The magnitude of the generated vibration acceleration is indicated, and the mark . indicates the magnitude of the electric power required to drive the actuator 6, respectively.

As is clear from the characteristic diagram shown in FIG. 4, when an impulse-like ground vibration force of 980 ga 1 is applied, one embodiment of the present invention is compared with the conventional example, and the impact on the structure l of the additional weight 8 is shown. Mass ratio (m d/M −) is 0. Even if Ol is small, the vibration acceleration generated in the structure l is about 5
5%, the power required to drive the actuator 6 is approximately 24%.
%, and even when the additional weight 8 is small, a sufficient vibration damping effect can be obtained.

In addition, in the above embodiment, the fluid damper 14 is not limited to a hydraulic damper, but may be an air damper, for example.

Further, in the above embodiment, the part of the vibration damping device to be mounted on structure 1 was installed on the top floor of structure 1, but it may be installed on any floor, and it can be installed in the same way as in the above embodiment. Needless to say, it is effective.

Further, in the above embodiment, the first. Second. Although the case has been described in which an accelerometer is used as the third vibration detector 3, 11.15, a speedometer may also be used.

In this case, integrating circuits 4a, 4b shown in FIG.

4c becomes unnecessary.

Further, in the above embodiment, as the actuator 6, any of a pneumatic actuator and a hydraulic actuator may be used in addition to an electromagnetic actuator.

[Effects of the Invention] As explained above, in the vibration damping device of a structure, when human vibration force due to an external force such as an earthquake acts on the second foundation, the present invention provides vibration control to the structure installed on the first foundation. In order to reduce the applied acceleration, the structure is equipped with a horizontally swingable support and a horizontally expandable fluid damper, and an actuator attached to the structure, an additional weight driven by this actuator, and a structure. The first step is to detect vibrations of objects.
a vibration detector, a second vibration detector that detects the vibration of the additional weight, a third vibration detector that detects the vibration of the first base, the first vibration detector, and the second vibration The configuration includes a control circuit that controls the actuator based on each detection signal from the detector and the third vibration detector and drives the additional weight, so that the additional weight used to improve the damping characteristics of the structure is This has excellent effects in that the weight weight can be made smaller and lighter, the electric power required to drive the actuator can be reduced, and a high-performance vibration damping device for a structure can be obtained with a small portion mounted on the structure.

[Brief explanation of the drawing]

FIG. 1 is a partial cross-sectional configuration diagram showing a vibration damping device for a structure which is an embodiment of the present invention, and FIG. 2 is an i'l diagram of the structure shown in FIG.
FIG. 3 is a block diagram showing the control system of the vibration damping device for the structure shown in FIG. 1, and FIG. 4 is a vibration damping device for the structure according to an embodiment of the present invention. Compare the relationship between the magnitude of the vibration acceleration generated in the structure, the magnitude of the electric power required to drive the actuator, and the mass of the additional weight when ground vibration is applied to a conventional vibration damping device for a structure. 5 is a partial cross-sectional configuration diagram showing a conventional vibration damping device for a structure, FIG. 6 is a block diagram showing a control system for the vibration damping device for a structure shown in FIG. 5, and FIG. 6 is an enlarged sectional view showing an example of an actuator in the vibration damping device for the structure shown in FIG. 5. FIG. In the figure, l... structure, 2... second base (ground), 3... first vibration detector, 4... control circuit,
4a, 4b, 4c...Integrator circuit, 4d...Relative speed detector, 4e...Arithmetic circuit, 6...Actuator, 6a...Cylindrical permanent magnet, 6b...Cylindrical shape Center ball, 6c... Excitation yoke, 6d... Drive coil, 6e... Support, 7... Drive unit, 8...
Additional weight, 9... Mount on stand, lO... Spring, 11.
...Second vibration detector, 12...First base, 13.
...Support body, 13a...Metal plate, 13b...Rubber plate, 14...Fluid damper, 15...Third vibration detector. In addition, in the figures, the same reference numerals indicate the same or equivalent parts. 1st Figure 14: Shita body Danno\. 15: 3rd/) Handling sword drinking 2nd figure 13: Ej? t I ≧ Tomi 13o: #All Handling 13b: Rubber Plate No. 3 Figure Mutual L-m-~--------------J 3: 1st/) Double Movement Ticket 4: Pizu Town 7th inning 4a, 4b, 4c: Integral circuit shun; Soto and others 7 to Ishishima Aya 4e: Entan Kahei 6: Aku + Kouji Ichita 11: 20th trial t11 scoreboard 15: 3rd/) A hard ticket! s 4 Diagram/1 Sun Tattarukami 8/11 Mizose 11: The amount of pages to type (md
) @ 5 Flash 1: Structure 5 7:
, Horse 1::'Moving part 2: M2's,! Heat (tglL)
8: , t+:rMJKanfu 3: Early 1 of 1
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Souken Kaito 10, rne 6: A7+
Eeta 11: Early 2 no 1 癲kyomitani]]] 1] ■ ■ ■ ■ ■ ngu0sound ψ− %S%S− Jig■ 0 Δ −−1 () () () Procedural amendment ( (Spontaneous) 1. Indication of the case Japanese Patent Application No. 63-32311 2. Name of the invention Vibration damping device for horizontal artifacts 3. Person making the amendment Representative Moriya Shiki 4. Agent 5. Subject of amendment ``Invention'' in the description Details of the correction in Column 9 of J (1) "Static characteristics" on page 5, line 20 of the specification is corrected to "static rigidity." (Correct “in the vertical direction” on page 9, line 7 of the 21st circular to “in the vertical direction”. (3) “Support 13” on page 10, line 19 of the same circular is changed to
12”. A) Correct "rigidity mode" in lines 12, 13, and 18 of page 14 of the same book to "rigid body mode."

Claims (1)

[Claims] A support body that supports the first base installed at the bottom of the structure so as to be able to swing in the horizontal direction with respect to the second base that vibrates in response to an external force, and a fluid damper that expands and contracts in the horizontal direction are connected to the first base that vibrates in response to an external force. an actuator provided between the base and the second base and further installed on the structure, an additional weight driven by the actuator, and a first vibration detector that detects vibrations of the structure. , a second vibration detector for detecting vibrations of the additional weight, a third vibration detector for detecting vibrations of the first base, and the above vibration detector obtained from the detection signal of the first vibration detector. A relative velocity signal between the structure and the first base is obtained from both the vibration velocity signal of the structure and the vibration velocity signal of the first base obtained from the detection signal of the third vibration detector. , a control circuit that controls the actuator based on both the relative velocity signal and the vibration velocity signal of the additional weight obtained from the detection signal of the second vibration detector, and drives the additional weight. A vibration damping device for a structure, characterized by comprising: