JPH03153939A - Vibration control device for parallelly located structures - Google Patents

Abstract

PURPOSE:To control interacting vibration of two structures built parallelly as quickly as practicable by forming a vibration control device from an actuator and a controller, and allowing this controller to operate an actuator on the basis of the vibrations of the two structures given by sensors. CONSTITUTION:Displacement amounts X1, X2 when two parallelly built structures are vibrating are sensed by each displacement sensor P or a strain gauge mounted on a parallel plate, and the results are converted into digital amount by an A/D converter and entered into a computer. Then, speed signal is calculated by a controller Co, and X1 and X2 plus this speed signal are multiplied with the feedback gain vector to determine the control amount (u). This amount (u) is converted into force by an actuator (a) and applied to the two structures A, B. An experiment with an actually embodied vibration control device according to this invention has demonstrated an excellent vibration control effect, wherein both structures come into standstill with two or three reversals of vibration after impulse excitation is made to either of the structures.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a vibration control device for parallel structures, which prevents vibrations caused by parallel structures such as tall stone structures, tower structures, space structures, and elastic vehicle bodies. It is something.

[Prior art] Mechanical structures, civil engineering architectural structures, and even space structures scheduled to be constructed in the near future are prone to vibration because they are composed of structural members with low internal damping. This is an important technical issue that not only reduces the reliability and functionality of various devices installed in the structure, but also damages the structure.For example, Takaishi Buildings are becoming increasingly taller. As a result, lighter weight is required, and flexible structures can generate large vibrations such as strong winds, significantly impairing livability.

Conventionally, there are two types of vibration control means known for structures. The first method is to install a vibration damping device such as a dynamic damper or an active damper on the upper part of the structure to prevent the occurrence of vibration. These utilize the reaction force of the auxiliary mass to apply a damping force to the structure.

Another method is to install actively expandable and retractable "water holes" called tendons inside the structure, and control the tendons to prevent vibrations.

FIG. 1 shows an example of an active mass damper.

This consists of an auxiliary mass called an active mass, an actuator, a sensor, and a controller that move it, and obtains control force by using the inertial force of the auxiliary mass as a reaction force.

Figure 2 shows a tendon installed in a structure.

This is a "sushi board" that can be expanded and contracted.

[Problem that the invention seeks to solve]

However, these vibration control means have the following problems.

That is, in a vibration control means using an auxiliary mass such as an active mass damper or a dynamic damper, a large inertial force is required to obtain a large control force. For this reason, effective vibration control cannot be achieved unless the auxiliary mass is increased or the movable range of the auxiliary mass is increased.Also, with the tendon method, the tendons cannot be placed in locations where large relative displacements occur, so effective vibration control cannot be achieved. I can't.

Furthermore, when using an active vibration control device such as an active mass damper or a tendon, the most important problem to be careful of is spillover unstable vibration. This is because although a structure has an infinite number of natural frequencies, it is not possible to control all of them, so the control device is designed by cutting off higher-order natural frequencies. In this case, unstable vibrations occur at higher natural frequencies. It is also a major challenge to realize a practical control device that does not generate this unstable spruover vibration.

[Objective of the Invention] Conventional vibration control means require additional space to house the vibration control device inside the structure as described above, which results in an increase in extra weight1.For example, in a general high-rise building, the total 17100 of the weight is required for the auxiliary mass.

This invention has two features.

The first is to provide an actuator between structures that stand side by side independently of each other so that the structures effectively interact with each other to control vibration. Therefore, if there are two structures, two vibration control devices are required in the conventional vibration control method, but with this invention, not only one vibration control device is required, but also no auxiliary mass is required. , the vibration control device can be extremely lightweight, and energy consumption for control is also extremely low.

The second aspect relates to a highly practical sensor arrangement that does not cause the aforementioned unstable spillover vibration.

[Means for solving problems]

The vibration control device for parallel structures of the present invention was made in view of the above-mentioned problems of the conventional example, and uses the mutual movement of parallel elastic structures to simultaneously control the vibration of each structure. The vibration control device is composed of an actuator, a sensor, and a controller, and the vibration control device is configured to control the vibrations of mutual structures as quickly as possible based on the vibrations of each structure detected by the sensors. The actuator is actuated by the controller.

Furthermore, a vibration control device that simultaneously controls the vibration of each structure by utilizing the mutual movement of parallel elastic structures,
This vibration control device is composed of an actuator, a sensor, and a controller, and the actuator is controlled by the controller so that the vibrations of each structure are controlled as quickly as possible based on the vibration of each structure detected by the sensor. The sensor is located near the node of vibration in the uncontrolled mode to prevent vibrations outside the control range from appearing conspicuously and causing unstable vibrations called spillover instability. It is something.

[Embodiment 1] A vibration control device for parallel structures according to the present invention for achieving the above objects will be described below with reference to the drawings.

Figure 3 shows a conceptual diagram of two parallel structures A and B composed of masses ml and mz and + and kz on two parallel plates facing each other. In order to simplify the zero problem in which actuator a is attached between them, each structure A and B is approximated by an undamped degree-of-freedom system, resulting in a dynamic model as shown in FIG.

The equation of motion for Figure 4 is determined and expressed as an equation of state as follows.

X=AX+Tou y=cx However, k is the force constant of actuator a.

This device uses optimal regulator theory to obtain the optimal control amount U generated by actuator a. The evaluation function in this case is expressed by the following equation, where X is a state vector, and Q and R are weight matrices by which the state vector and the control amount are multiplied.

u=-fKX-1R-'bTP However, P is the solution of the following Norikatti equation.

r, x+ATP-PririR-'To'' P+Q=0 The control amount U given to the actuator a is obtained by the feedback gain vector K determined as described above.

FIG. 5 shows the configuration of the vibration control device. displacement sensor P,
Alternatively, a strain gauge attached to a parallel plate detects the amount of displacement Xi, Xz of each structure during vibration, and converts this into A/
After passing it through a D converter and converting it into a digital quantity, it is taken into a computer, and each signal of the speed signal is multiplied by the feedback gain vector to obtain the control quantity U. This is converted into force by actuator a, and both structures are controlled. It acts on things.

Figure 6 shows the control results obtained through experiments using a concrete configuration of the vibration control device shown in Figure 5. It can be seen that each structure is stationary and has an excellent vibration control effect. FIG. 7 shows the response when one structure is subjected to impulse vibration in an uncontrolled state and then controlled. It is clear that the structures that are not being excited move for a moment to control the side that is being excited, and then they are controlling each other. In this way, superior vibration control becomes possible.

Next, a sensor arrangement that does not cause unstable spillover vibration will be described. Figure 8 shows the vibration characteristics of the structure expressed by the transmission coefficients G1 and 62, reduced to 1
This shows a control system in which state feedback is performed with only the following transfer function as the control target. However, the signal y2 indicated by the ignored higher-order transfer coefficient G2 is also observed by the sensor, combined with the control amount, and fed back. Therefore, the root of 62 becomes unstable due to the local feedback of y2. To solve this problem, consider the location of the sensor so that the y2 signal does not enter the feedback loop.

FIG. 9 shows the relationship between the second to fifth vibration mode shapes of a cantilever beam with one end fixed and the other end free, and the controllability and observability of the control system. U represents the control force, and y represents the response of the observation point. When the value of β becomes zero, it is called uncontrollable, and when the value of θ becomes zero, it is called unobservable. FIG. 9 shows that this uncontrollable and unobservable condition occurs on nodes of the vibration mode shape. In other words, if a sensor is placed at a node of vibration of a certain mode, the signal of that mode will not be observed.

Therefore, in order to prevent unstable spillover vibrations occurring in the ignored non-control mode, it is sufficient to place a sensor at the node of the non-control mode. Figure 10(a)
, (b) shows the case where a sensor is installed at each node of each secondary mode and the case where a sensor is installed at a place other than the node to prevent signals from the secondary vibration mode of the two parallel structures shown in Figure 5 from entering. Comparison of impulse response when installed.

While the former shows good control results, the latter suffers from severe spillover instability in the second-order mode.

As described above, the apparatus of the present invention in which a sensor is disposed above a node of vibration in an uncontrolled mode is simple, but exhibits excellent effects. Note that in this experiment, a strain gauge was used as a sensor.

In that case, a sensor is placed in the stress mode of boiling.

The structure of the actuator a implemented in this invention is
Shown in Figure 1. This is a simple structure in which a drive coil D is provided within a magnetic field created by a ring-shaped permanent magnet M. The actuator a is actuated by converting the control amount U calculated in the computer into a current and passing it through the drive coil D. The effects obtained using this are shown in FIGS. 6, 7, and 10.

If the vibration control device of this invention is to be applied to vibration control of high-rise buildings located side by side, it can be done as shown in Fig. 12.
That is, it is sufficient to provide a passageway in the upper part of structure A and structure B, which are high-rise buildings, and provide the function of actuator a inside or on the outer periphery of the passageway.

FIG. 13 shows an example of vibration control of a space structure. Here, too, an effective vibration control effect is obtained by installing actuator a between structures A and B that stand side by side.

〔Effect of the invention〕

As described in detail above, according to the vibration control device for parallel structures of the present invention, an actuator is provided between the structures that are arranged parallel to each other independently, and the structures effectively interact with each other to control vibration. It was designed to do so. Therefore, if there are two structures, the conventional vibration control method
However, with this invention, not only one vibration control device is sufficient, but also no auxiliary mass is required, so the vibration control device can be extremely lightweight, and moreover, Energy consumption is also extremely low.

Further, by simply optimizing the arrangement of the sensors, it is possible to provide a vibration control device for parallel structures that does not cause the unstable spillover vibration described above.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing the configuration of an active mass damper, FIG. 2 is a schematic diagram showing the configuration of a tendon, and FIG. 3 is a schematic diagram showing the arrangement of parallel structures and actuators.
Figure 4 is a schematic diagram of the dynamic model, Figure 5 is a schematic diagram showing the configuration of the vibration control device, Figure 6 is a graph showing the impulse response of the structure, and Figure 7 is a comparison of structures with and without control. Graph showing the impulse response of , Figure 8 is a schematic diagram showing state feedback using a reduced-dimensional model, Figure 9 is a schematic diagram showing the correspondence between vibration mode shape, controllability, and observability.
Fig. 10 is a graph of response comparison between the presence and absence of proper sensor placement, Fig. 11 is a sectional view showing the structure of the actuator,
FIG. 12 is a schematic diagram when applied to vibration control of tall buildings standing side by side, and FIG. 13 is a schematic diagram when applied to vibration control of space structures. a...Actuator CO...Controller m
4...Active mass P...Sensor A, B-...
Structure

Claims (1)

[Claims] 1. A vibration control device that simultaneously controls the vibration of each structure by utilizing the mutual movement of parallel elastic structures, the vibration control device comprising an actuator, a sensor, and a controller. Vibration control of parallel structures, characterized in that the actuator is actuated by the controller so that the vibrations of the mutual structures are controlled most quickly based on the vibrations of each structure detected by the sensor. Device. 2. A vibration control device that simultaneously controls the vibration of each structure by utilizing the mutual movement of parallel elastic structures, and this vibration control device is composed of an actuator, a sensor, and a controller, Based on the vibrations of each structure, the actuator is operated by the controller so that the vibrations of the mutual structures are controlled as quickly as possible, and vibrations outside the control range are noticeably manifested to prevent spillover. A vibration control device for parallel structures, characterized in that a sensor is placed near a node of vibration in an uncontrolled mode so as not to cause unstable vibrations called stable vibrations.