JPH02278031A - Control device of damping device - Google Patents

Abstract

PURPOSE:To eliminate unnecessary shock to structures by gradually changing current to servo valves at the start and stop of control as in a test operation where speedy response is not required for damping movements in accordance with operation modes. CONSTITUTION:A reading means 46 reads off from a regulator map 43 a standard feedback gain which lessens damping effect as an actuator 42 moves toward its stroke end in accordance with the direction of displacement and movements of an additional mass 41 as detected by sensors 44, 45, and controls the actuator 42 with a control output means 58 together with the quantity of state of a structure as detected by a sensor 47 to dampen with the movement of the additional mass 41. When an operation judge mode judging means 52 judges a test time and a judging means 53 judges a start or a stop of a control, control output is gradually increased within a specified time with a correction control means 54. Normal control is performed in case of vibration input as in an earthquake. Unnecessary shock to structures can be avoided this way.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a control device for a vibration damping device.

(Prior art) There is a structure in which a damping device is attached to a structure and vibration damping energy is supplied from the outside to actively reduce the vibration of the structure. 2264
(See Publication No. 66).

To explain this, FIG. 4 is a side view of the vibration damping device installed on the upper part of the structure, and FIG. 5 is a plan view thereof. In the figure, a rectangular parallelepiped additional mass 2 having a single wheel at its bottom is movably placed on the floor at the top of the structure 1.

Double-acting hydraulic sills 6 are fixed to the circumferential surface of the additional mass 2 from the top, bottom, left and right in FIG. 5, and one end of the loft 7 of this sill 6 surrounds the additional mass 2.

It is connected to a wall 8 erected on the structure 1 so as to

9 is a hydraulic unit that supplies oil to the sill 6;

FIG. 6 is a model of a control system that controls the vibration damping device shown in FIGS. 4 and 5. FIG. However, for the sake of simplicity, the additional mass 2 is moved by one shilling 6.

In an actual device, if the 1° additional mass 2 of the structure shakes, for example, in the direction of water flow in FIG. 4, it will vibrate in the vertical direction in the model of FIG. 6.

The structure 1 and the additional mass 2 are provided with displacement sensors 11 as means for detecting state quantities. a, 11b and speed sensor 12a, 1
2b is provided, and the state quantities are displacement of structure 1 x 1, displacement of additional mass 2 x2, velocity cross I of structure 1, and additional mass 2
A speed intersection 2 is detected. The displacements Xi and X2 are the structure 1.
When the additional mass 2 is at the center position, the value is set to 0, and the XIp cost 2 takes a positive or negative value.6 Furthermore, the XIp cost 2 also takes a positive or negative value depending on the direction of movement of the additional mass.

The signals from the four sensors 11a, 11b and 12a, 12b are input to a subtractor 32.33, where the relative displacement X2'("X2-XI)" of the structure 1 and the additional mass 2 and the relative velocity cost 2' (=intersection 2 - intersection 1) is obtained.

The feedback deign calculator 34, which receives the signals from the sensors 11b and 12b, determines the operating direction of the additional mass 2 from the sign of the additional mass velocity cross 2, and calculates a feedback deign corresponding to the determination result and the additional mass displacement 2. f” (
f l+f2+f:bf4) is calculated. However, `` is a matrix representing the feedback dein.

In the multipliers 35 to 38, the above-mentioned state quantity Xl + X2' + intersection 1
Each component of the feedback dean r +tf2
+f3+f4 are multiplied, and these are sent to the adder 39.l)
In addition, control human power u: f 1xl+ f2x2'
+f3Q1+f4y2' is obtained. The aforementioned four state quantities x1. 2', intersection 1, and intersection 2' are expressed as a fiil vector x = (XI+X2'txl+x2'),
U”f-x.

The control human power U output from the controller 31 is applied to the servo valve 13
The solenoid current i is converted into a current 1 flowing through the solenoid 15, and the spool ↑4 moves in the left-right direction in the figure in accordance with this solenoid current i. Note that among the three boats located on the second side of the servo valve 13, the center boat 16 is the pump P (not shown).
At the same time, the left and right boats 17 and 18 communicate with a tank T (not shown). Also, the two bows located at the bottom) 19.2
0 communicates with the upper and lower chambers of shilling 6, respectively.

Suppose that structure 1 begins to sway upward (to the right in Figure 4, Pt55) due to the external force of wind or earthquake.
By the action of the controller 31 which inputs this shaking situation, the long boule 14 is slid to the right to the illustrated position. In this state, hydraulic pressure is supplied to the shilling chamber below the shilling 6, and oil in the upper shilling chamber is returned to the tank T.
The piston inside the sill 6 is pushed up. In other words, the rod 7 that moves together with this piston moves the additional mass 2 to the upper side, which is the same side, with a delay in the movement of the structure 1.

On the contrary, when the structure 1 swings downward, the sign of the control force U becomes opposite, so the spool 14 slides to the left and the additional mass 2 is moved downward. Here, the reaction force caused by moving the additional mass 2 is the external force (
(excitation input) from the opposite direction, thereby reducing the vibrations of the structure 1.

Next, a method for calculating the feedback dein f will be explained.

FIG. 7 shows the contents of the regulator map, and the stroke of the additional mass 2 moves the center position of the additional mass 2 to O.
range of ±α (β is approximately 1/1/2 of the total stroke range 2α)
4), and three types of reference feedback deigns fl-f3 are assigned according to the additional mass displacement x 2 and its operating direction. Here, rl has the highest damping effect (easier to make the additional mass move), and "3" is the feedback dein with the least damping effect. Figures 8 (A) to (C) show the reference feedback dein 1. ~f
3 is used alone, the relationship between structure displacement Xl + additional mass displacement x 2° sliding structure speed 91 is shown. Therefore, the vibration damping effect is the greatest. Furthermore, these standard feed parameters? Coudeins f to f3 will not be described in detail, but are determined based on the optimal regulator theory.

Regarding the operating direction of the additional mass 2, it is assumed that when the solenoid current i is positive, the additional mass 2 operates from the bottom to the top, and conversely, when the solenoid current i is negative, it operates from the top to the bottom.

Note that if the additional mass displacement x 2 is 0. At intermediate positions other than ±β and ±α, the feedback dein f is calculated by linear interpolation calculation. For example, when 1≧O and x2<β, each component of the feed pump 7 cudein f “1+f2+f3
yf4 is two reference feeds 1(-)kudinf+=(
f'+bf+2+f+3+f+4), f2= (f21
+f22*f23+f24), f'+=f++10(f2+-f++) ・X2/βf2
= r 12+ (122-f 12)・2/βf3
=ft3+(f23-f+3) 8X2/βf4=r
14+ (rsz −f 14>・x2/β).

Even when the current 1 is negative, −Q < x2 < −
The same holds true in the range of β<x2<0.

The shift force is when the additional mass 2 moves L1:,od7
is from one stroke end to the center i! (0), if the additional mass is moved efficiently with a feedback gain f1 with a high oscillation effect (the additional mass is easy to operate), the maximum stroke of the additional mass is shortened and the structure is The vibration damping effect required for object 1 can be obtained.

On the other hand, when going from the center position to the stroke end, the feed puncture gain that gradually reduces the damping effect is calculated from the reference feedback deign "I~f3," and just before reaching the stroke end,
Since the additional mass is applied at the feedback gain f3 that has the smallest damping effect, the impact caused by the additional mass reaching the stroke end can be minimized.

By the way, with such a vibration damping device, it is necessary to perform regular tests and 2-inspection, and at that time it is necessary to actually drive the actuator to move the additional mass. There is.

In this case, to move or stop the additional mass,
The control start/stop button or the test start/stop button is operated, and as the button is operated, the current flowing through the servo valve's thread maid changes in steps, which causes the driving force of the additional mass! As a result of changing the ifi, the structure receiving the support reaction force of the actuator was given a sway.

When an earthquake actually occurs, quick response is required, so it is necessary to change the current stepwise at startup, but since there is no need for this during testing, it is possible to change the current stepwise. It is preferable to minimize damage to the structure due to current changes.

In order to solve this problem, the present invention gradually changes the current to the servo valve when starting or stopping control during testing, etc., depending on the operating mode of the device, thereby eliminating unnecessary shifts in the structure. The object of the present invention is to provide a control device that does not cause

(Means for Solving the Problems) As shown in FIG. 1, the present invention includes an additional mass 41 movable in the vibration direction of a structure, and a reciprocating actuator 42 that moves this additional mass 41. , additional square 4
A regulator map 43 with a reference feedback deign Ps9 that gradually reduces the vibration damping effect as the additional mass 4↑ moves from the center position to the stroke end of the actuator 42 according to the displacement of 1 and its operating direction, and the additional mass displacement. and a sensor 44 that detects the direction of movement thereof.
．． 45, a means 46 for reading out a reference feedback deign from the signals of these sensors 44 and 45 by referring to the regulator map 43 according to the additional mass displacement and its direction of operation at that time, and a state related to vibration! It includes a sensor 47 that detects s1, and a 1' stage 48 that determines the control output to be given to the seven kunayuators 42 based on the state quantity obtained from this sensor 47 and the feedback data read out from the sensor 47, What is the operating mode of the actuator? means 52 for determining the till all start and stop when the determined operating motor r is based on a predetermined starting operation; It also includes a correction control means 54 that gradually increases or decreases to a predetermined value within a certain period of time.

(Function) Therefore, the operation mode for driving the actuator is
When based on a predetermined starting operation such as during a test, for example, when control is started, the control output given to the actuator is AI!
1. It does not rise suddenly, but gradually increases within a predetermined period of time, thereby suppressing a sudden increase in the support reaction force against the structure and reducing the shock.

This is done in the same way when the actuator is deactivated.

On the other hand, when vibrations from the ground R or the like are input, normal control is performed, and at the initial stage of startup, the actuator is driven by a control output that increases in steps to achieve a quick response.

(Example) The present invention will be described in detail below, but the models of the vibration damping device and control system are the same as those of the conventional example (for the vibration damping device, see Figures 4 and 5).
The control system model is shown in Figure 6).

The tIS2 diagram is a block diagram of the present invention, and 60 is an A/D
The converter converts the detected values from the sensors, such as the state quantities of the additional mass and the building, into digital values and inputs them to the CPU 61.

In addition, 62 is an input/output interface 7 ace (I
64 is a ROM or fl as a storage unit.
In the AM mode, the output of the CPU 61 is converted to a drive current for the solenoid 15 of the servo valve 13 as shown in FIG. 6 via a D/A converter 65, and is output.

The CPU 61 calculates the control output for driving the actuator based on the operation input as in the conventional example, but in the present invention, the control output for driving the actuator is calculated based on the operation input! The operation mode is determined according to 1M, and during test operation, etc., the actuator movement is gradually controlled without sudden changes at the start and stop of control, and after a certain period of time has passed, the operation mode is changed to the original state. It is designed to perform servo current control.

This control operation will be explained with reference to FIG.

First, Fig. 3 (A) shows the overall control operation, and after processing the operation input, the operation mode is determined based on this (St, 2), for example, a test using a push button switch. Set the operation input, etc.

Depending on the determined driving mode, select 7 aid-in (gentle rise control at start) and 7 aid-out (9 control gentle fall at stop) control (33 to 5).
).

Processes the input of physical quantities from the various sensors described above, and calculates the control command output to the servo amplifier of the servo valve (S
6.7). The key 1j control start condition is determined, and if the start condition is not satisfied, the above calculation is repeated (S8.9). When the start condition is met, a start flag is set and subsequent determinations are transferred to the inner IS flag (SIO).

The control stop condition is identified in the same way as the start condition, and if the start condition is met and the stop condition is not met, then if the 7 aid in flag is set, and if it is 7 aid in, the control is stopped for a predetermined time. Based on the characteristics shown in FIG. 3(B), correction is performed to gradually increase the output, i.e., fade-in output processing is performed, and the results are output (Sit.

12.1344.16>.

On the other hand, when the 7 aid-in control is completed, the process shifts to normal output processing (S15).

Note that whether or not the 7 aid-in is in progress is determined by counting the time set by a counter.

When the stop condition is satisfied and the stop flag is set, and furthermore, when 7 aid out is instructed and the alarm is 1, the stop flag is set and the stop flag is set. When the output is decreased and fade-out output processing is performed by ν1 (S11, 17, 18, 1.9, 21), the final output is unlimited (approaching zero).

When the fade-out process is finished, the output is set to zero,
All 7 lags are reset and the counter is cleared to zero and returned to the initial position (S18.20).

Figure 3 (B) shows the output processing operation during fade-in control.67 The output ratio during fade-in is calculated using a function calculation or R
Using an OM table, etc., set the output so that it has a predetermined characteristic that gradually increases, and while cutting the aid-in counter, repeat the correction output for a predetermined time i) Output (S16-1.2, 3.4).

Further, the output processing during the 7-work-out control shown in FIG. 13(C) is performed in the same manner. However, in this case, the output will gradually decrease (S21-1..2.3.4).

In this way, during test operations, etc., other than when quick damping action is required, the output does not change stepwise at the start of control, and the output increases gradually, so the actuator The reaction force acting on the structure through the structure prevents shock or large acceleration from occurring in the structure.

Of course, when an earthquake occurs, normal control is automatically started, and in this case, when the control starts, the output first rises in steps, and after that, the actuator is controlled based on the output. Therefore, responsive vibration damping operation is ensured when necessary.

(Effects of the Invention) As described above, in this invention, depending on the operating mode of the device, the current to the servo valve is gradually changed when starting or stopping control, such as during a test operation where a quick response to damping action is not required. This prevents unnecessary shock from being applied to the structure when starting, starting, or stopping a test, and also prevents people inside the structure from feeling uneasy.

[Brief explanation of drawings]

PIS 1 is a claim correspondence diagram of this invention, FIG. 2 is a block circuit diagram of an embodiment of this invention, and FIG. 3 (A). (B) and (C) are flowcharts for explaining the control operation of this embodiment. 4 and 5 are a side view and a plan view, respectively, of a conventional vibration damping device, FIG. 6 is a model of a conventional control system, and FIG. 7 is a surface showing the contents of a conventional regulator map. Figure 8 (
A) to (C) are waveform diagrams showing the damping effect due to the reference feedback gain of the conventional example. DESCRIPTION OF SYMBOLS 1... Structure, 2... Additional mass, 6... Schilling, 11a, mlb... Displacement sensor, 12a, 12b.
...Speed sensor, 13...Spool valve, 31...Controller, 41...Additional mass, 42...Actuator, 43...Regulator map, 44...Displacement sensor, 45... Operating direction sensor, 46...Reading means, 47...State quantity sensor, 423...Control input determining means, 52...Operation mode fq constant f=stage, 5; (・
...Start and stop M constant means, 54...Output correction control T'
-Dan. Figure 2 Figure (8) Figure (C) Figure 4 @5 Figure -10,00Q 1, UU

Claims (1)

[Claims] It is equipped with an additional mass that can move in the vibration direction of the structure and a reciprocating actuator that moves this additional mass, and the additional mass moves from the center position to the stroke end of the actuator according to the displacement of the additional mass and the direction of its movement. A regulator map that allocates a standard feedback gain that gradually reduces the damping effect as it moves, a sensor that detects the additional mass displacement and its movement direction, and a signal from these sensors that determines the additional mass displacement and its movement at that time. means for reading the reference feedback gain of the regulator map according to the direction; a sensor for detecting a state quantity related to vibration; and a means for reading the reference feedback gain of the regulator map based on the state quantity obtained from the sensor and the read reference feedback gain A vibration damping device comprising: means for determining a control output to be applied to an actuator; 1. A control device for a vibration damping device, comprising: means for determining, and correction control means for gradually increasing or decreasing a control output given to an actuator to a predetermined value within a predetermined time at the time of starting and stopping control.