JPH03140647A - Control method of vibration damping device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method of controlling a vibration damping device for reducing wind-induced shaking of a main tower of a long bridge or a high-rise building.

[Prior Art] Conventionally, a vibration damping device has been known as a device for reducing vibrations, which is constructed by installing a movable mass on the top of a vibration damping object and connecting this to the vibration damping object by a spring and a damper. ,
This was a passive vibration damping device that operated by receiving vibrations from the object to be damped. However, such passive damping devices are difficult to adjust, and if the dynamic balance between the damped object and the movable mass vibration system (such as the relationship between the natural periods of the two) is disrupted, the damping effect will drop significantly. There were drawbacks.

Therefore, in recent years, active type vibration damping devices have been developed with the aim of eliminating the drawbacks of the passive type described above by actively driving the movement of a movable mass while controlling it according to the vibration of the damped object. Research is actively being carried out on vibration damping devices such as systems that use a combination of active and passive methods (hereinafter referred to as hybrid type).

FIG. 3 shows an example of a high-print type vibration damping device among the above, in which a movable mass 2 is installed movably in the horizontal direction on the top of a high-rise building 1, which is an object to be damped. Mass 2
and a fixing member 3 fixed to the high-rise building 1 are connected by an actuator 4 and a spring 5, and the high-rise building 1
The controller 7 sends a command to the actuator 4 in response to vibrations of the high-rise building 1 detected by the acceleration sensor 6 disposed at the top, and the actuator 4 causes the movable mass 2 to
is driven at a frequency and magnitude appropriate to the shaking so as to cancel out the vibrations of the high-rise building I. In addition, in FIG. 3, an active vibration damping device is one in which the spring 5 is eliminated and the movable mass 2 is moved only by the actuator 4.

[Problems to be Solved by the Invention] However, in the conventional hybrid vibration damping device described above, the vibration amplitude and control force of the vibration damping device tend to be excessive than necessary.

As shown in FIG. The relationship is
Graph A becomes like this, and the vibration frequency of high-rise building 1 is f2.
The curve has a peak at which it rapidly descends from side to side between a predetermined region (hereinafter this region will be referred to as resonance region

However, the spectral distribution of the external wind force, that is, the distribution of the strength of the excitation force that the high-rise building 1 receives due to a constant wind force with respect to each frequency, is as shown in graph B, and usually the natural frequency f2 of the high-rise building 1 is The frequency f1 is in a low region relative to
The curve has a peak at , rapidly descends in a predetermined area before and after the peak, and then gradually declines. That is, the spectral distribution of the external wind force shows a high value in a region lower than the resonance region X of the high-rise building 1.

Therefore, when an external wind force as shown in graph B acts on the high-rise building l, the actual response displacement of the movable mass 2 to each vibration frequency will be as shown in graph C.

On the other hand, as shown in graph B, when the hybrid damping device is driven against external wind force, the vibration of the high-rise building 1 actually detected by the acceleration sensor 6, that is, the distribution of the detected acceleration for each frequency. As shown in graph D in FIG. 5, is detected as a curve with two mountainous portions having peaks at the natural frequency f2 of the high-rise building 1 and the peak frequency f1 of the spectrum of the external wind force, respectively, As is clear from the comparison with graph D' when the hybrid vibration damping device is not installed, the vibration damping device effectively suppresses only the vibration in the peak part on the frequency f2 side, that is, within the resonance region X. It has a tremor effect.

Therefore, among the vibration components shown in graph D, there are vibration components other than the resonance region X mentioned above (vibration components near the frequency f1).
Since a large amount of vibration components are included, the controller 7 performs control that takes into account vibration components for which no vibration damping effect can be expected.
The vibration amplitude of the vibration damping device and the control force of the actuator 4 were unnecessarily excessive values.

The present invention was made in view of the above-mentioned circumstances, and it is an object of the present invention to provide a control method for a vibration damping device that performs appropriate control with a damping effect.

[Means for Solving the Problems] The present invention includes a movable mass provided at the top of an object to be damped, which is controlled by a controller to cancel vibrations of the object to be damped in accordance with vibrations of the object to be damped detected by a vibration detection sensor. In the method for controlling a vibration damping device, the vibration damping device damps the vibration of the vibration damping object by actively driving the vibration damping object while controlling the vibration damping device. The present invention is characterized in that vibration components in a region other than a frequency region within a predetermined range before and after the natural frequency of the object are attenuated and removed by a band-pass filter and then input to the controller.

[Function] Accordingly, in the present invention, among the vibration components of the damped object detected by the vibration detection sensor, vibration components in a region other than the frequency region in the required range before and after the natural frequency of the damped object,
That is, by attenuating and removing vibration components for which a damping effect cannot be expected by the vibration damping device using a band-pass filter, it is possible to perform appropriate control targeting only vibration components for which a damping effect can be expected by the vibration damping device. Become.

[Example] Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an example of an apparatus for carrying out the method of the present invention, in which parts labeled with the same reference numerals as in box 3 represent the same parts. In the hybrid type vibration damping device 9, which is configured in substantially the same manner as the hybrid type vibration damping device, a bandpass filter 8 is provided between the acceleration sensor 6, which is a vibration detection sensor, and the controller 7. Among the vibration components of the high-rise building 1 detected by the high-rise building 1, it is configured to electrically attenuate vibration components other than the predetermined frequency band, and to pass only the vibration components in the predetermined frequency band and output to the controller 7. do.

The bandpass filter 8 has a resonance region X near the natural frequency f2 of the high-rise building 1, as shown in graph E in FIG.
The filter characteristics are set such that the vibration components of the filter are passed as they are, and vibration components other than the resonance region X, especially those in a frequency region lower than the resonance region X, are attenuated and not passed.

According to the above configuration, among the vibration components of the high-rise building I detected by the acceleration sensor 6 (see graph D in FIG. 5),
Since vibration components outside the resonance region X are attenuated and removed by the band-pass filter 8, it becomes possible to control the vibration components within the resonance region X, where a damping effect can be expected, using the vibration damping device. .

Therefore, according to the above, it is possible to appropriately control the vibration damping device by removing the influence of the vibration components mixed and detected by the acceleration sensor 6 and for which no damping effect can be expected.

Furthermore, it is possible to reduce the vibration amplitude and control force of the vibration damping device to appropriate values while maintaining substantially the same damping effect as before, so the displacement stroke of the movable mass 2 can be made smaller than before. The installation space for the damping device can be significantly reduced, and the driving power of the actuator 4 can be significantly reduced.

In addition, as mentioned above, since it was originally difficult to expect a damping effect on vibration components other than the resonance region There is no adverse effect on displacement or acceleration response.

It should be noted that the control method of the vibration damping device of the present invention is not limited to the above-mentioned embodiments, and can be applied to an active vibration damping device as well as a hybrid vibration damping device, and the vibration detection sensor can be used for controlling vibration damping devices. Any device may be used as long as it is capable of detecting vibrations of an object to be vibrated, and it is possible to apply it to speed sensors, displacement sensors, etc. in addition to acceleration sensors, and various changes may be made within the scope of the Ikensui invention. Of course.

[Effects of the Invention] As explained above, according to the method for controlling a vibration damping device of the present invention, various excellent effects as described below can be achieved.

(D) The vibration damping device can be appropriately controlled by removing the influence of vibration components for which no damping effect can be expected.

<n> The vibration amplitude and control force of the vibration damping device can be reduced to appropriate values while maintaining the same damping effect as before, so the installation space for the vibration damping device can be significantly reduced. , and the power required to drive the movable mass can be significantly reduced.

[Brief explanation of the drawing]

FIG. 1 is a conceptual diagram showing an example of a device implementing the method of the present invention, FIG. 2 is a graph showing filter characteristics of the bandpass filter of FIG. 1, FIG. 3 is a conceptual diagram showing a conventional example, and FIG. The figure shows a graph showing the response characteristics of the damping device per unit vibration, a graph showing the spectral distribution of the external wind force, and a graph showing the response displacement of the movable mass to the external wind force. Figure 5 shows the vibration detected by the acceleration sensor. This is a graph representing In the figure, ■ is a high-rise building (object to be damped), 2 is a movable mass,
4 is an actuator, 5 is a spring, 6 is an acceleration sensor (vibration detection sensor), 7 is a controller, 8 is a bandpass filter, and 9 is a hybrid vibration damping device (vibration damping device).

Claims (1)

[Claims] 1) Actively driving a movable mass provided at the top of the damping object while controlling it with a controller so as to cancel the vibration of the damping object according to the vibration of the damping object detected by a vibration detection sensor. In the control method of a vibration damping device that damps the vibration of the damped object, the vibration component detected by the vibration detection sensor is at least within a predetermined range before and after the natural frequency of the damped object. A method for controlling a vibration damping device, characterized in that vibration components in a frequency range other than the frequency range are attenuated and removed by a band-pass filter and then input to the controller.