JPH0247478A - Method for vibration control and its device - Google Patents

Abstract

PURPOSE:To achieve adequate vibration control with the function of an elasticity generating device fully exhibited by detecting earthquake movement and response of a structure against an input from a power device for vibration control, and by controlling with fed-back detected values. CONSTITUTION:To a structure 4 supported on a ground 2 through a cycle- lengthening means, an elasticity generating device 6, working in the direction of its power transmission, is installed. A power device 5, that is driven being expanded and contracted in the direction of earth moving between the structure 4 and the ground 2 and transmitting vibration control force to the structure 4, is also provided. A detecting device 7 that detects earthquake movement and response of the structure 4 against an input from the power device 5 is installed, and the detected value is fed back to a control device 9, which controls displacement of expansion and contraction of the power device 5. Therefore, the power device 5 can be controlled with the existence of the elasticity generating device 6 being added.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention is applicable to vibration damping of a long-period structure using a damping force applied from a power means such as an actuator. detect the response of an object,
The present invention relates to a shaking method and an apparatus thereof, in which the amount of expansion and contraction of the power means is feedback-controlled based on the response of the structure.

(Prior Art) Various vibration damping methods have been devised for regulating the shaking of structures due to earthquake motions and the like. for example,
Power means such as actuators that are driven to expand and contract in the passive direction between a structure supported on the ground via a long-period means such as an isolator made of laminated rubber, a sliding support material made of rollers, etc., and the ground. The control system is designed to insulate the structure from the moving ground and maintain the structure in a constant position as much as possible by using this power means to generate a damping force in the direction opposite to the seismic motion. Shaking mechanisms are known (see Architectural Institute of Japan Conference Academic Lecture Abstracts (Kinki) (October 1986) 9.905-906, etc.).

Regarding the coupling structure between the power means and the structure or the ground in such a vibration damping mechanism, the present applicant hereby proposes that the oscillation of the control system may be prevented when the power means is delayed in response to the transmitted control signal or when feedback control is adopted. In consideration of the above, we are considering configuring a vibration damping device by attaching an elastic means to the power means to generate elastic force in the direction of force transmission.

In other words, the power means causes an extreme delay in operation with respect to the transmitted control signal, especially the high frequency component in the signal, but when the power means and the structure are directly connected, the behavior of the power means is such that the operation is delayed. However, rather than suppressing vibrations, this may actually amplify the shaking of the structure. On the other hand, when a resilient means is installed, the behavior of the power means corresponding to high frequency components can be cut by the resilient means, and even if the power means acts in the opposite direction to damping, the behavior can be controlled by the resilient means. It is possible to suppress the adverse effects caused by the delay in the operation of the power means.

In addition, in feedback control, if the feedback signal detected from the structure and used for control contains a high frequency component, it will cause oscillation of the control system, but due to the intervention of the elastic means, the feedback signal detected by the structure and used for control will cause oscillation of the control system. It is possible to cut high frequency components from the signal, improve control stability, and enable the power means to exert sufficient vibration damping action.

By providing the resilient means in this way, the IR structure shaking can be amplified by the power means that should apply damping force in response to the high frequency component included in the control signal.
We are considering a vibration damping mechanism that can prevent the power means from being unable to exert sufficient damping action due to oscillations in the control system.

(Problem to be solved by the invention) However, in a vibration system in which an elastic means is interposed in the force transmission system of the power means in which seismic force and damping force interact with each other, the elastic means is not provided. Unlike a vibration system, a desirable vibration damping effect cannot be obtained unless the power means is appropriately controlled in consideration of the presence of the resilient means. Therefore, it is desired to devise an appropriate vibration damping control method and device for a vibration system equipped with such an elastic means.

An object of the present invention is to equip a force transmission system of a power means in which seismic force and damping force interact with each other, and to damp a long-period structure with the damping force applied from the power means. ,
It is an object of the present invention to provide a suitable 1q vibration control method and device for a vibration system including an elastic means.

(Means and effects for solving the problem) The present invention has a resilient means for resiliently repelling a structure supported on the ground via a long period lengthening means in the direction of force transmission, and the structure and the ground are connected to each other. When damping vibrations using a power means that is driven to expand and contract in a passive direction between The amount of expansion/contraction displacement of the means is feedback-controlled.

By controlling the expansion/contraction displacement amount of the power means by feedback control in consideration of the presence of the resilient means, vibration damping control that takes advantage of the function of the resilient means is performed.

The present invention also provides a power means that is provided between the ground and a structure supported on the ground via a long period lengthening means, and is driven to expand and contract in a passive direction to transmit a damping force to the structure; an explosive means that is attached to the power means and bounces in the direction of force transmission; a detection means that detects the response of the structure due to earthquake motion and input from the power means; and an expansion/contraction displacement of the power means in response to a detection signal from the detection means. The structure includes a control means for feedback controlling the amount, and performs allocation control based on the response of the structure while taking advantage of the function of the elastic means, with the expansion/contraction displacement of the power means as a control target.

(Example) Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in the figure, a structure 4 is built on the ground 2 in which four sections 1 are formed, supported in the recess 1 via a long period lengthening means 3, and this structure 4 is The period is made longer by the means 3. In this embodiment, as the period lengthening means 3, a plurality of laminated rubbers having an appropriate height and arranged at intervals within the recess 1 are illustrated. Note that the period lengthening means 3 is not limited to laminated rubber, but may also be a sliding support material, a bearing, a soft strip, a magnetic levitation means, or the like.

A power means 5, such as a hydraulic cylinder, is provided between the structure 4 configured in this way and the ground 2, which is driven to expand and contract in the direction of passive movement during an earthquake, and transmits a damping force to the structure 4. . Specifically, the power means 5 operates on the vertical wall 1 of the recess 1.
A and the lower part of the structure 4 facing it, it is provided substantially horizontally along the direction of the earthquake's lateral shaking. Further, a plurality of power means 5 are arranged at intervals around the structure 4 so as to be able to cope with earthquakes of various directions.

A resilient means 6, such as a spring, is attached to the power means 5, and is resilient in the direction of force transmission. In the illustrated example, the resilient means 6 is installed between the power means 5 and the structure 4, but in the direction of force transmission, the resilient means 6 is attached between the power means 5 and the recessed vertical wall 1a on the ground 2 side. It may be between.

The repulsion means 6 is configured such that the vibration of the structure 4 is amplified by the power means 5 which should apply a damping force in response to the high frequency component included in the control signal, or the vibration of the structure 4 is amplified by the oscillation of the control system. It functions to prevent the means 5 from being unable to exert a sufficient damping effect.

On the other hand, inside the structure 4, a detection means 7 is installed which detects the response of the structure 4 due to the earthquake motion and the input from the power means 5. The detection means 7 is connected to a control means 9 such as a computer via an amplifier 8 for amplifying the detection signal.
is connected. Further, this control means 9 is connected to the power means 5 and has a function of feedback controlling the amount of expansion/contraction displacement of the power means 5 in accordance with the detection signal from the detection means 7. That is, the response of the structure 4 due to the action of seismic motion and the action of the power means 5 is always detected by the detection means 7, this detected amount is processed by the control means 9, and the control signal is always fed back to the power means 5. It has become. Note that the amplifier 8
In addition, the installation position of the control means 9 is as shown in the figure.
It may be inside or on the ground 2 side.

Here, 1) the concept of the damping method of the present invention, 2) the use of the expansion/contraction displacement amount of the power means 5 as the control amount of the control means 9, and 2) the use of feedback control will be explained.

Regarding (2), the present invention sets a specific control function corresponding to the vibration damping system equipped with the elastic means 6 in the control means 9, and controls the amount of expansion/contraction displacement of the power means 5 based on this control function. It is supposed to achieve the swing.

The basic vibration equation for suppressing the shaking of the structure 4 due to passive movement during an earthquake by applying the control force of the power means 5 to the structure 4 supported by the period lengthening means 3 is as follows. It is expressed as

mx+c M+kx --m9+F ---
(1) m: Mass unique to the structure 4 c2 Damping coefficient unique to the structure 4: Resilience coefficient of the lengthening means 3: Relative speed of the structure 4 to the ground 2 X: Structure 4 to the ground 2 Relative velocity to X.

The velocity has an acceleration k. In addition, when considering the above vibration system, the various quantities that can change the vibration characteristics of the structure 4 include the mass m specific to the structure 4, the damping coefficient C specific to the structure 4, and the elastic coefficient k of the period lengthening means 3. be. In the present invention, when detecting the response of the structure 4 and processing these detected quantities in the control system, an appropriate control function is set to appropriately control various quantities that can change these vibration characteristics in the control system. By changing the structure, the vibration characteristics of the structure 4 are changed and vibrations are suppressed. Here, (I) When changing the damping force of the vibration system using the response velocity intersection of the structural object 4, (I
I) A case where the elastic force of the vibration system is changed using the response displacement X of the structure 4, and (III) A case where the mass of the vibration system is changed using the response acceleration of the structure 4 will be explained.

First, considering the above structure, since the force transmission system of the power means 5 includes the elastic means 6, the content of the control force F of the power means 5 in equation (1) can be rewritten as follows. Can be done.

F listening ka (z-x) ... (2) m (father + i) + C + C? ) + (k+ka) (x+y) =C3/+
(k+k a) y+k a z---In equation (3) expressed in this way, ka on the right side, which is the external force term,
z is the effect of installing the explosive means 6. Regarding the force term given by kaz in correspondence with (I), if we consider the case where this force term is given as a control variable to change the damping force of the vibration system, the absolute response of the structure 4 is It can be expressed using velocity as follows.

ka: elasticity coefficient of the elastic means 2: amount of expansion/contraction displacement of the power means Here, equation (2) is substituted into equation (1). At this time, the absolute response displacement (x+y), absolute response speed (x0?), etc. of the structure 4 with respect to the static system (absolute system) which is a superposition of the passive displacement y and the relative displacement X of the structure 4 with respect to the ground 2, etc. If you organize it by
It will look like this:

kaz −-ca (x+y) Ca: Attenuation coefficient given by the control means a (x+y) ... (4) ka Substituting this equation (4) into the above equation (3) and rearranging it, it is expressed as follows. When compared with equation (3), the effect of changing the vibration characteristics of the structure 4 is given.

m (x:+9)+ (c+ca) (x+y)
+ (k + ka) (x + y) - cy + (k + ka) Y ... (5) kb (x + y) ... (6) ka Substituting this equation (6) into the above equation (3) and rearranging it, we get the following When compared with equation (3), the effect of changing the vibration characteristics of the structure 4 is given.

Similarly, regarding the force term given by kaz in correspondence with (II), if we consider the case where this force term is given as a control amount to change the elastic force of the vibration system, the absolute value of the structure 4 It can be expressed as follows using response displacement.

kaz −-kb (x+y) kb; Resilience coefficient m (x+y) given by the control means
+c (x+y) + (k+ka+kb) (x+y) =CY+
(k+ka) y... (7) Similarly,
Considering the case where the kaz force term is given as a control variable for changing the mass of the vibration system in correspondence with (III),
It can be expressed as follows using the absolute response acceleration of the structure 4.

kaz--ma (x + y) Mass given by control means 9 m a (diamond + ji) ... (8) a Substituting this equation (8) into the above equation (3) and rearranging it, we get the following. When compared with equation (3), the effect of changing the vibration characteristics of the structure 4 is given.

(m+ma) (x+y)+c (x+y)+
(k+ka) (x+y) =cy + (k
+ k a ) Y - (9) In this way, by introducing the control functions shown in equations (4), (6), and (8) into the control system in correspondence with kaz, which is the force term, (
5), (7), and (9), the vibration damping effect can be exerted by ensuring changes in the vibration system as shown in equations 5), (7), and (9). In particular, equation (5) shows the effect of adding a new damper to the structure 4 to suppress resonance amplification, and equations (7) and (9) add a new damper to the structure 4, and equations (7) and (9) add a new damper to the structure 4 to suppress the resonance amplification. It has the effect of shifting the period of object 4 from a specific periodic band.

Also, if necessary, these (4) and (6).

Of course, the control system may be constructed by appropriately combining equations (8).

Furthermore, as a method of detecting the response of the structure 4 and damping the vibration by giving a specific control function to the control system, the following may be used. That is, in the above equation (3), the left side represents the vibration characteristics of the above structure in an absolute system, and the right side represents the contents of the external force.

In order for the absolute response of the above structure 4 to become zero,
It is sufficient if the content on the right side, that is, the external force term, becomes zero. Therefore, by setting the right side of equation (3) to -0, the expansion/contraction displacement f of the power means 5
When organized by f1z, it is expressed as follows.

cy+(k+ka)y ten kaz-0 z--(cy+(k+ka)yl-(10)
a This is a control amount that allows the structure 4 to stand still with respect to the absolute system. If this value 2 and the absolute response of the structure 4 are equal, the expansion/contraction displacement Hz of the power means 5 at that time has maintained the structure 4 at a constant position regardless of passive motion (absolute damping). condition). In actual control, feedback control is performed, so this value 2 is introduced into the control as the current amount of expansion/contraction displacement of the power means 5, and control is performed based on these values 2 and the response amount of the structure 4. will be carried out.

Therefore, for actual control, this value 2 is set as Za, and when it is substituted into the above equation (3) and the control function is rearranged, the following is obtained.

m (i + di) + c to c + y) + (k + ka) (x + y) --kaza +
kaz zz a+G f (x+y)
−(11)f (x+y) :m (x
+9)+c (x+y)+ (k+ka) (x
+y) G: Feedback gain (G-1/ka) This control is based on the amount of response of the structure 4 and attempts to dampen the vibration of the structure 4 in direct response to the input of seismic motion. .

Furthermore, the control function (11) obtained here may be combined with the control functions of equations (5), (7), and (9) above, if necessary. This is because in the absolute vibration damping control given by equation (11), the power means 5 needs to operate quickly in response to the control signal output from the control means 9. However, the power means 5 has a considerable delay in operation and may not be able to respond to the signal. Here, superimposed on the control of equation (11), (
5).

By combining the control functions of equations (7) and (9) and making corrections from the perspective of changing the vibration system, it is possible to eliminate negative effects such as delay in the operation of the power means 5 in absolute vibration damping control and achieve excellent vibration allocation. can be controlled.

In this way, in the vibration system in which the elastic means 6 is newly installed in the force transmission system of the power means 5 in which seismic force and damping force interact, each of the above newly derived equations is used as the control function of the control means 9. By using the response of the structure 4 as the detection amount of the detection means 7 and controlling the expansion/contraction displacement iiz of the power means 5, taking into account the presence of the resilient means 6,
An appropriate vibration damping control signal can be output to the power means 5 while allowing the power means 5 to perform its functions, and an excellent vibration damping effect can be obtained.

Further, when detecting the absolute response amount of the structure 4, as shown in the figure, the detection means 7 installed in the structure 4 detects the absolute acceleration of the structure 4 with respect to the stationary system.

The absolute velocity and absolute displacement may be detected, or on the other hand, the acceleration, velocity, and displacement of passive motion and the relative acceleration, velocity, and displacement of the structure 4 with respect to the ground 2 may be detected using separate sensors, and the above formula can be calculated. These may be used in a superimposed manner. Further, the relationship between acceleration, velocity, and displacement may be obtained by, for example, differentiating or integrating the detected velocity.

Regarding (2), next, we will explain the point that the expansion/contraction displacement amount 2 of the power means 5 is adopted as the control amount of the control means 9. When controlling the power means 5 such as a hydraulic cylinder, the control Dllffi is the displacement amount, the displacement There is velocity, displacement acceleration. On the other hand, there is also a method of installing a load cell or the like between the power means 5 and the structure 4 to control the acting force generated by the power means 5.

If, for example, a hydraulic cylinder is employed as the power means 5, its operation is performed by controlling a valve.

This valve control adjusts the amount of oil inflow, and since the inflow amount corresponds to the displacement speed of the hydraulic cylinder, this valve control controls the displacement speed of the hydraulic cylinder. Therefore, in such a case, it is most direct and simple to set the control amount by the control means 9 to the displacement speed of the power means 5, and this speed control is carried out within the shell. However, as a general concept of control systems, displacement control is less likely to cause oscillation in the control system and has the highest stability. In other words, when considering speed control as a standard, acceleration control has a differential control relationship with respect to speed control, and if the power means 5 can react quickly, it will exhibit excellent followability, but it will be less stable and may cause oscillation. It is a control system that is easy to cause.

Furthermore, the control system for force control is unstable and prone to oscillations, similar to acceleration control. On the other hand, displacement control has an integral control relationship with respect to speed control, has excellent stability, and is less likely to cause oscillation.

In this damping control, by introducing the expansion/contraction displacement amount 2 of the power means 5 into the control equation when deriving the new control function described above, the control of the power means 5 can be achieved by this displacement control. By employing this highly stable displacement control in the above-mentioned vibration damping method, even more excellent vibration damping can be achieved.

Regarding (2), the present vibration damping method and device employs feedback control rather than feedforward control, which is performed by detecting in advance passive motion before the structure 4 begins to shake due to earthquake motion. Since this is predictive control in feedforward control, it is necessary to understand the vibration characteristics of the structure 4 and its nonlinearity in advance and to create a control circuit that reflects these, whereas in feedback control, this is not necessary. This is because it is also possible to follow the nonlinearity of the structure 4.

As described above, the structure 4 supported on the ground 2 via the long period lengthening means 3 is provided with a springing means 6 for springing the structure 4 in the direction of force transmission, between the structure 4 and the ground 2. Power means 5 that is driven to expand and contract in the passive direction to transmit damping force to the structure 4
In the vibration damping method of the present invention, the response of the structure 4 due to the earthquake motion and the input from the power means 5 is detected, and the various control functions described above are applied according to the response of the structure 4. Based on this, the expansion/contraction displacement ffiz of the power means 5 is feedback-controlled.

(Effects of the Invention) In summary, according to the vibration damping method and its device according to the present invention, in a vibration system in which an elastic means is newly installed in a force transmission system of a power means in which seismic force and vibration damping force interact, an elastic A newly derived vibration equation that includes the elastic coefficient of the generating means is used as a control function of the control means, and the response of the structure is used as the detection amount of the detection means to control the amount of expansion and contraction of the power means. By this, an appropriate vibration damping control signal can be outputted to the power means while allowing the firing means to perform its function, taking into account the existence of the firing means, and an excellent vibration damping effect can be obtained. .

In addition, by introducing the displacement amount of the power means into the control equation when deriving the new control function described above, it is possible to achieve control of the power means using this displacement control, and this highly stable displacement control can be used as vibration damping control. By adopting this method, even better vibration damping can be achieved.

Furthermore, since feedback control is adopted, there is no need to understand the vibration characteristics of the structure and their nonlinearity in advance and create a control circuit that reflects these, and it is possible to achieve accurate vibration damping control.

[Brief explanation of the drawing]

The figure is a schematic diagram showing a preferred embodiment of a vibration damping device according to the present invention. 2...Ground 3...Long cycle means 4...
・Structure 5... Power means 6... Bombing means 7... Detection means 9... Control means

Claims (2)

[Claims] (1) A structure supported on the ground via a lengthening means is provided with a springing means for springing the structure in the direction of force transmission, and the structure is driven to expand and contract in the passive direction between the structure and the ground. When damping vibrations using a power means that transmits damping force to a structure, the response of the structure due to earthquake motion and input from the power means is detected, and the amount of expansion and contraction of the power means is feedback-controlled according to the response of the structure. A vibration damping method characterized by: (2) a power means that is provided between the ground and a structure supported on the ground via a long period lengthening means, and is driven to expand and contract in a passive direction to transmit a damping force to the structure; an explosive means that is attached to the power means and springs in the direction of force transmission; a detection means that detects earthquake motion and the response of the structure due to input from the power means; A vibration damping device comprising: a control means for feedback controlling the amount of expansion/contraction displacement of the means.