JPH0285478A - Suppression for vibration - Google Patents

Abstract

PURPOSE:To improve the vibration suppressing effect by detecting the response speed of a structure on the basis of the action of the earthquake input and the vibration suppressing force supplied from an actuator and feedback- controlling the vibration suppressing force of the actuator according to the response speed. CONSTITUTION:The first sensor 10 for detecting the earth movement (earth moving speed of a ground) in earthquake is installed on a ground 6 side, and the second sensor 11 for detecting the response speed of a structure 3 on the basis of the action of the earthquake input and the vibration suppressing force supplied from an actuator 9 is installed in a structure 3. The vibration suppressing force of the actuator 9 is feedback-controlled by the detection signals detected by the first sensor 10 and the second sensor 11. Therefore, the damping effect of a vibration system including the structure can be improved, and the superior vibration suppressing effect can be obtained.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention provides a method for damping a long-period structure or a supported floor using a damping force applied from an actuator. The present invention relates to a vibration damping method in which the response speed of a structure, etc. based on an earthquake input and the action of damping force from an actuator is detected, and the damping force of the actuator is controlled based on this response speed.

(Prior Art) Various vibration damping methods have been devised for regulating the shaking of structures due to earthquake motions and the like. There is a known method of suppressing the vibration of a structure by using the damping force of a power source such as an actuator, and a general application example of this method is shown in Figure 7, which suppresses the vibration inherent in a structure. An actuator a is installed at the top of the structure or an intermediate floor, which is the antinode of the mode, and is configured to perform vibration damping control based on the detection signal from the sensor C at that position.

This actuator a is installed between a fixed block d fixed to the structure and an additional vibrating body e, and acts as a reaction force on the additional vibrating body e, which swings due to inertia due to the shaking of the structure. It is designed to add damping force. Such a configuration is preferable because the damping force that should be input to the structure is relatively small, but on the other hand, it is necessary that the structure itself has a long periodicity, such as because the structure is a high-rise structure. In addition, there is a drawback that a sufficient vibration suppression effect cannot be obtained. In addition, since a vibration damping mechanism is installed inside the structure,
It also reduces the total floor area.

Taking these circumstances into consideration, we have made it possible to install actuators at locations other than the tops of structures and intermediate floors, and we have also made it possible to install actuators in locations other than the tops of structures and intermediate floors, and also to install medium- to low-rise structures of about 5 to 20 floors, which usually do not have long periodicity. In order to make the structure subject to vibration damping control, the structure is supported with vibration isolation through long-period means such as an isolator made of laminated rubber on the ground or a sliding support material made of rollers, etc. Seismic isolation structures have been developed. In this vibration-isolated structure, the antinode of the vibration mode unique to the structure can be obtained in the lower part of the structure by means of lengthening the period which is inserted directly under the structure, and therefore the middle and low-rise structures can also be lengthened. It is possible to periodize the structure and provide an actuator between the structure and the external ground at this lower level position (Proceedings of the Architectural Institute of Japan, Vol. 1).
No. 03 (October 1960) p, 118, etc.).

(Problem to be Solved by the Invention) By the way, in order to exert a preferable vibration damping effect on the above-mentioned vibration isolation structure, it is important to appropriately control the vibration damping force generated by the actuator. It is desired to devise an optimal control method for It is also conceivable to apply the above-described vibration isolation structure to a specific floor structure within a structure to damp vibration, and control of actuators in this case is also important.

An object of the present invention is to provide a suitable vibration damping control method when damping a vibration isolation structure having a long periodicity using a damping force applied from an actuator.

(Means and Effects for Solving the Problems) The present invention provides a method for damping a structure that is seismically isolated and supported on the ground via a long period lengthening means using a damping force generated by an actuator. The response speed of the structure based on the action of damping force from the actuator is detected, and the damping force of the actuator is feedback-controlled based on the response speed.

The present invention also provides a method for damping a supported floor that is vibration-isolated and supported via a long-period means on a structural floor that constitutes a floor portion of a structure and that vibrates together with the structure, using a damping force generated by an actuator. The response speed of the supported floor based on the action of earthquake input and damping force from the actuator is detected, and the distributed force of the actuator is feedback-controlled based on the response speed.

By controlling the damping force of the actuator as described above, damping control of the structure or the supported floor is performed.

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

The present invention has a sensor that detects disturbances such as earthquake motion or vibrations of the structure itself, uses the signal as a control signal for vibration damping, and applies vibration damping force from the outside to provide long-term vibration isolation support. The present invention provides a vibration damping method that actively reduces the shaking caused by earthquakes, etc., of built-in structures. FIG. 1 shows the concept of a device adopted to implement the vibration damping method of the present invention, and this device mainly consists of a measurement system (sensor) 1 that detects ground motion and the state of shaking of a structure 3. , a control system (control means) 2 that processes the measurement values measured by the measurement system 1 as data, and a power drive system (actuator) that applies a damping force to the structure 3 according to a control signal from the control system 2. It consists of 4.

To explain a specific example of the structure when damping the structure 3, as shown in FIG. A structure 3 is constructed, and the period of this structure 3 is lengthened by the lengthening means 7. In this embodiment, as the period lengthening means 7, a plurality of laminated rubbers having an appropriate height and arranged at intervals within the recess 5 are illustrated. Note that the period lengthening means 7 is not limited to laminated rubber, but may also be a sliding bearing, a bearing, a soft story, a magnetic levitation means, or the like. In addition, in this embodiment, the structure 3
A damper 8 is disposed in parallel with the period lengthening means 7 between the ground 6 and the ground 6, and this damper 8 can provide a considerable vibration damping effect.

Between the structure 3 configured in this way and the ground 6, there is an actuator 9 such as a hydraulic cylinder as a power drive system 4 that is driven to expand and contract in the direction of ground motion during an earthquake and inputs a damping force to the structure 3. is provided. Specifically, the actuator 9 is provided substantially horizontally along the lateral shaking direction of the earthquake between the vertical wall 5a of the recess 5 and the lower part of the structure 3 facing the vertical wall 5a. Also, this actuator 9
are arranged around the structure 3 at intervals so as to be able to cope with earthquakes of various directions.

On the other hand, as the measurement system 1, a first sensor 10 is installed on the ground 6 side to detect the ground motion (ground motion speed of the ground) during an earthquake, and the sensor 10 detects earthquake input and damping force from the actuator 9 in the structure 3. A second sensor 11 is installed to detect the response speed of the structure 3 based on the action of. These first
Detection signals detected by the sensor 10 and the second sensor 11 are used for feedback control to be described later. A control system or control means 13 such as a computer is connected to these sensors 10 and 11 via an amplifier 12 for amplifying detection signals.

This control means 13 is connected to the actuator 9 and has a function of controlling the damping force of the actuator 9 according to detection signals from the respective sensors 10 and 11.

FIG. 4 shows a circuit configuration of a feedback control system that corresponds to the vibration damping method of the present invention, and the response speed of the structure 3 as a result of earthquake input and vibration damping force applied thereto is The second sensor 11 detects the first
The sensor 10 of the structure 3 may also detect the ground motion speed = 7 - degrees), and the detected value is returned to the control means 13 and used for the next operation of the actuator 9. There is no need to accurately incorporate the vibration characteristics into the control circuit in advance, and nonlinearity of the structure 3 can also be followed. It also functions effectively when an excitation force is applied above the structure 3, such as in the wind. In addition, the installation position of the amplifier 12 and the control means 13 may be inside the structure 3 as shown in the figure, or may be on the ground 6 side.

Next, a specific example of a configuration in which vibration is damped by applying the above-described vibration isolation structure to a specific floor structure within the structure 3 will be described. As shown in FIG. 3, on the structural floor 14, which constitutes the floor portion that partitions each floor of the structure 3 and which vibrates together with the structure 3 during an earthquake, a supported floor 15 This supported bed 15 is configured to have a long period by the period lengthening means 7. In this embodiment, the period lengthening means 7
, a plurality of laminated rubbers having an appropriate height and disposed at intervals on the structural floor 14 are illustrated. Precision equipment 16, such as a computer, is mounted on this supported floor 15, which is not affected by vibrations.

An actuator 9 is provided between the supported floor 15 and the structure 3 configured in this manner as a power drive system 4 that is driven to expand and contract in the direction of ground motion during an earthquake and inputs a damping force to the supported floor 15. It will be done.

Specifically, the actuator 9 acts on the vertical wall 3a of the structure 3.
and the end face 15a of the supported floor 15 facing oppositely thereto, provided substantially horizontally along the lateral shaking direction of the earthquake. Further, a plurality of actuators 9 are arranged at intervals around the supported floor 15 so as to be able to respond to earthquakes of various directions.

On the other hand, the measurement system 1 includes a first sensor 10 that detects earthquake vibration (response speed of the structural floor 14) on the structural floor 14 on which the supported floor 15 is installed. A second sensor 1 for detecting the response speed of the supported floor 15 based on the earthquake input and the action of the damping force from the actuator 9 is installed on the supported floor 15 in the second sensor 1. These sensors 10, 11 are used for feedback control as in the case of vibration damping of the entire structure 3 described above.

A control means 13 such as a control system or a computer is connected to these sensors 1.0.11 via an amplifier 2 for amplifying the detection signal, and an actuator 9 is connected to the control means 13. Thus, the damping force of the actuator 9 is controlled according to detection signals from each sensor 10.11. Note that the amplifier 12
In addition, the installation position of the control means 13 is the same as above, in the structure 3.
It may be inside or on the ground 6 side.

Next, a vibration damping control method will be described using an example of damping the entire structure 3. This also applies to the supported floor 15.

The basic vibration equation for suppressing the shaking of the structure 3 due to ground motion during an earthquake by applying the damping force of the actuator 9 to the structure 3 supported by the long period lengthening means 7 is as follows. is expressed in

m :X+ c x + k x --m'j 10P
- (1) m, mass C specific to the vibration system including structure 3: damping coefficient specific to the vibration system including structure 3: structure 3
The inherent stiffness of the vibration system including: Relative acceleration of structure 3 with respect to the ground 6 Father: structure 3
Relative speed of the structure 3 with respect to the ground 6, be. And it was expressed like this (1
) formula, the left side represents the vibration characteristics in the relative system of the structure 3 mentioned above (the relative relationship between the ground 6 and the structure 3), and the right side represents the vibration of the ground 6 (ground acceleration) and the damping force of the actuator 9. P
The contents of external forces include Here, from the above equation, the response amount of the structure 3 based on the earthquake input and the action of the damping force from the actuator 9 is its displacement X and velocity cross.

There is an acceleration father. In addition, when considering the above vibration system, the various quantities that can change the vibration characteristics of the structure 3 are the mass m inherent to the vibration system including the structure 3, the damping coefficient C1 inherent to the vibration system including the structure 3, the structure 3, There is a stiffness k inherent to the vibration system.

In the present invention, when the response of the structure 3 is detected and these detected amounts are processed by the control system, the damping coefficient C unique to the vibration system including the structure 3 is appropriately changed in the control system. The vibration characteristics of the object 3 are changed to damp it. By changing the damping coefficient specific to the vibration system and adding a damping force in this way, it is possible to obtain the effect of appropriately reducing the response of the structure 3 and the effect of suppressing excessive deformation of the period lengthening means 7. Therefore, it is possible to obtain an appropriate vibration damping effect while ensuring high safety. In other words, as shown in Fig. 5, even if the ground 6 is displaced, a large damping effect is exerted on the structure 3, resulting in a damping effect that can reduce the relative displacement with respect to the ground 6 (in the figure, α 〉
β). In other words, in the graph showing the relationship between the transmissibility and the frequency shown in Fig. 6, in the undamped vibration state (in the figure,
Unlike A), this provides a damping effect by reducing the resonance amplitude (B in the figure).

Here, the following control function is set in the control means 13. This provides the damping force P of the actuator 9 based on the detected absolute response speed of the structure 3. Note that the absolute response speed of the structure 3 is given by superimposing the ground motion speed 9 and the relative speed X of the structure 3 with respect to the ground 6.

P=-ca (x+y) +・+ (2) ca
, the damping coefficient given by the control means 13. Therefore, the above (2)
By substituting the damping force P of the actuator 9 for changing the damping force of the vibration system expressed as in the equation (1) above, the vibration equation is expressed as follows, and the structure 3 The effect is that the vibration characteristics of are changed.

m5j+cM+ca (M+y)+kx=-mp...
(3) According to this control formula (3), one of the response quantities of the structure 3 (absolute response speed, x+y) can appropriately suppress the relative displacement of the structure 3 with respect to the ground 6 and the earthquake input. Vibration damping control will be executed. According to such a damping control method, the relative response displacement of the structure 3 with respect to the ground 6 can be reduced, and damage to the structure 3 can be reduced.

In particular, according to the control function of equation (3) above, it is possible not only to suppress the amplification of vibration near the natural frequency of the vibration system including the structure 3, but also to suppress vibrations at other frequencies. There is an effect that the transmissibility is always lower than the state and converges.

The above explanation relates to vibration damping of the structure 3, but in the case of the supported floor 15, each control value in the above equation (3) may be handled as follows.

m: Quality inherent to the vibration system including the supported floor 15 C: Damping coefficient specific to the vibration system including the supported floor 15 = Rigidity inherent to the vibration system including the supported floor 15 Father: Structural floor of the supported floor 15 14: Relative velocity X of the supported floor 15 with respect to the structural floor 14: Relative displacement of the supported floor 15 with respect to the structural floor 14 X+9. Absolute response speed of the supported floor 15 with respect to the stationary system By the way, in the above equation (2), the control function was determined by adopting the response speed intersection of the structure 3 with respect to the stationary system +9, or the relative response speed intersection with the ground 6. It is also possible to give a control function by This applies the damping force P of the actuator 9 based on the detected relative response velocity of the structure 3. In this case, the control equation for the actuator 9 is expressed as follows.

P=-ca intersection (5) Substitute the term of the damping force P of the actuator 9 to change the damping force of the vibration system expressed as in the above equation (5) into the above equation (1). Then, the vibration equation is expressed as follows, and the effect of changing the vibration characteristics of the structure 3 is given.

m * + (c + c a ) x 0k x = −
m y - (6) Even if the control equation (6) is expressed by the relative response speed cross, as in the case of the control expressed by the absolute response speed x + y, the response amount of the structure 3 With one (relative response speed, intersection), it is possible to obtain a damping effect that can moderately suppress the relative displacement of the structure 3 with respect to the ground 6 and the earthquake input.

As explained above, when damping the vibration of the vibration-isolating structure 3 having a long periodicity or a specific floor structure (supported floor 15) within the structure 3 with the damping force P applied from the actuator 9, the structure The above newly derived (3) and (5) add damping force by changing the damping coefficient C inherent to the vibration system including
By controlling the damping force P of the actuator 9 using the equation ) as a control function, damping control that moderately suppresses the relative displacement of the structure 3 with respect to the ground 6 and earthquake input is executed, and the response of the structure 3 is It is possible to obtain the effect of reducing the vibration appropriately and the effect of suppressing excessive deformation of the period lengthening means 7, and to obtain an appropriate damping effect while ensuring high safety.

(Effect of the invention) −16= In short, according to the vibration damping method according to the present invention, a structure that is vibration-isolated supported on the ground via a long period lengthening means, or a structure that constitutes a body part of a structure, When using the damping force generated by an actuator to damp a supported floor that is vibration-isolated and supported via a long-period means on a structural floor that vibrates with an object, the damping force of the actuator is controlled using a newly derived control function. By controlling the above, it is possible to increase the damping effect of the vibration system including the structure. According to this type of allocation control method, the relative response displacement of the structure to the ground can be reduced, reducing damage to the structure. An excellent allocation effect can be obtained.

[Brief explanation of the drawing]

Figure 1 is a schematic configuration diagram of a device adopted to carry out the vibration damping method of the present invention, Figure 2 is a specific configuration diagram when damping a structure, and Figure 3 is a diagram of the vibration isolation structure installed inside the structure. 4 is a circuit diagram of a feedback control method corresponding to the vibration damping method of the present invention, and FIG. 5 is a diagram of the structure of a structure against earthquakes. FIG. 6 is a schematic diagram illustrating the damping effect, FIG. 6 is a graph when the damping method of the present invention is adopted, and FIG. 7 is a configuration diagram showing a conventional damping mechanism. 3... Structure 6... Ground 7... Long cycle lengthening means 9... Actuator 14... Structural floor 15... Supported method patent applicant
Osamu Obayashi Co., Ltd.
Patent Attorney - Ken Iro Axis
Patent Attorney Masatoshi Matsumoto Figure 3 Figure 6 Figure 7

Claims (2)

[Claims] (1) When damping a structure that is vibration-isolated and supported on the ground via a long period lengthening means with a damping force generated by an actuator, the above-mentioned method is based on the earthquake input and the action of the damping force from the actuator. A vibration damping method, characterized in that a response speed of a structure is detected, and the vibration damping force of the actuator is feedback-controlled based on the response speed. (2) When damping a supported floor that is vibration-isolated and supported via a long-period means on a structural floor that constitutes the floor portion of a structure and vibrates together with the structure, using damping force generated by an actuator, A vibration damping method characterized in that a response speed of the supported floor based on an earthquake input and the action of a damping force from the actuator is detected, and the damping force of the actuator is feedback-controlled based on the response speed. .