JPH04149711A - Control method for active dynamic damper - Google Patents

Abstract

PURPOSE:To reduce the power consumption for actuator driving by removing components of a damping command which are lower than a structure natural vibration frequency where an influence upon vibration suppression is small through a low-pass removing filter. CONSTITUTION:This active dynamic damper suppresses the vibration of a structure 1 by fitting an additional vibration body 5 to the structure 1 and applying the damping force by an actuator 9 provided between the structure 1 and additional vibration body 5. The low-pass removing filter 15 removes the components of the damping command which are lower than the structure natural vibration frequency where the influence upon the vibration suppression is small. The high pass filter 15 removes the components of the damping command which is lower than the structure natural vibration frequency where the influence upon the vibration suppression is small, so the total quantity of energy consumed as the damping force decreases and there is a little influence upon the damping effect. Consequently, the power consumption for driving the actuator 9 is reducible.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method of controlling an active dynamic damper that suppresses vibrations of various structures.

[Conventional technology]

As one means of suppressing the vibration of a structure, an additional vibrating body is attached in the vibration direction of the structure, and the reaction force when the additional vibrating body is displaced with respect to the structure is used to suppress the vibration of the structure. A dynamic damper that suppresses vibration is known, and an actuator is further provided between the additional vibrating body and the structure, and a damping force is generated in the actuator according to the measured amount of vibration of the structure. Active dynamic dampers are also known that enhance the allocation effect by

However, in such an active dynamic damper, it is necessary to drive the actuator to suppress vibration, and some energy must be added to it, which usually results in running costs in the form of electricity charges, etc. Therefore, it is desired to save energy in driving the actuator.

By the way, considering how the damping force applied by the actuator is useful for vibration suppression, the second diagram shows a frequency analysis of the vibration acceleration of the above structure when an irregular external force is applied to the structure. The horizontal axis is the frequency, and the vertical axis is the vibration acceleration of the structure at each frequency.
Since the above-mentioned structure usually has a natural frequency, the vibration near that frequency becomes large as shown at point a in the figure.

The third diagram is a frequency analysis diagram of the vibration acceleration of the structure when an active damper is added that determines the damping force by a linear function of the vibration displacement and vibration velocity of the structure. Similarly to FIG. 2, the vertical and horizontal axes respectively represent one frequency of the vibration acceleration of the structure.

Furthermore, the diagram in Figure 4 is a frequency analysis of the single swing force applied to the actuator of the active damper in the case shown in Figure 3. In the diagram, the vertical axis, #
Each of the I-axes has one damping force frequency.

Comparing Figures 2 and 3, it can be seen that adding an active damper reduces vibrations near the natural frequency of the structure, but no vibration suppression effect appears at other frequencies. I can see that there isn't. - Looking at Figure 4 of the old manuscript, at this time, a considerable number of signals with frequencies lower than the natural frequency are applied to the actuator, but the damping force at a certain frequency only affects the vibration of the structure at that frequency. Therefore, it can be seen that the vibration damping force applied to a frequency band lower than the natural frequency does not have much vibration suppressing effect as shown in FIG. Consequently, the damping force at frequencies lower than around the natural frequency is wasted.

[Invention tries to solve! If) The present invention was developed in view of these circumstances.
Actuator - consumes less power for driving,
Therefore, it is an object of the present invention to provide a control method for an active dynamic damper that is energy-saving.

[Means to solve the problem]

To this end, the present invention provides an additional vibrating body to the structure and an actuator provided between the structure and the additional vibrating body to apply a repulsive force of 11%. The dynamic damper is characterized in that a component of the damping force command below the natural vibration frequency of the structure, which has a small influence on vibration suppression, is removed by a low-pass removal filter.

[Effect]

The low-pass removal filter removes components of the damping force command that are lower than the structure's natural frequency, which has a small effect on vibration suppression, so the total amount of energy consumed as damping force is reduced, and the damping force is reduced. This makes it possible to have almost no effect on the effect.

〔Example〕

An embodiment of the present invention will be explained with reference to the drawings. In the system diagram of FIG. 1, a vibrating structure 1 has a mass of 2. It consists of a spring 3 and a damper 4, and as an additional vibrating body 5 attached to the mass 2, an additional spring 6. An additional mass 8 is attached via an additional damper 7, and an actuator 9 is provided between the mass 2 and the additional mass 8 to apply a damping force of vLl[L. Furthermore, structure 1
The displacement and speed of , as well as the displacement and speed of the additional vibrating body 5, are measured using displacement meters 10.11. Feedback 1H1l is measured by speedometers 12 and 13, and is multiplied by a gain and added to each of the side walls to determine the damping force.
14, its output is guided to a low-pass removal filter 15, and its output is guided to the actuator 9 as a vibration damping force command value.

According to this method, the low-pass removal filter removes components that do not contribute to the damping effect from the output signal of the feedback mechanism, so it is easier to drive the actuator than when the low-pass removal filter is not used. The energy of the active dynamic damper becomes smaller and has almost no effect on the vibration suppression effect, thus making it possible to save energy in the active dynamic damper and improving economic efficiency.

〔Effect of the invention〕

In short, according to the present invention, an active dynamic damper that suppresses the vibration of the structure by attaching an additional vibrating body to the structure and applying a restraining force by an actuator provided at 4 degrees between the structure and the additional vibrating body. By using a low-pass removal filter to remove components of the vibration damping force command that are below the natural vibration frequency of the structure, which has a small influence on vibration suppression, the amount of power consumed to drive the actuator can be reduced, thus reducing energy consumption. INDUSTRIAL APPLICABILITY The present invention is extremely useful industrially because it provides a control method for an active dynamic damper that is excellent in terms of performance.

[Brief explanation of the drawing]

FIG. 1 is a system diagram showing one embodiment of the present invention. Figure 2 is a frequency analysis diagram of the vibrating body acceleration when an irregular external force is applied to a known vibrating body, and Figure 3 is a frequency analysis diagram of the vibrating body acceleration when an active damper is added to the known vibrating body. FIG. 4 is a frequency analysis diagram of the damping force produced by the actuator of a known active damper. 1... Structure, 2... Mass, 3... Spring, 4...
・Damper 5...additional vibrating body, stone...additional spring,
7... Additional damper 8... Additional mass, 9... Actuator 10.11... Displacement needle, 12.13
...Speedometer, 14...Feed bank mechanism, 15.
...Low-pass removal filter representative Patent attorney Masashi Tsukamoto

Claims (1)

[Claims] In an active dynamic damper that suppresses the vibration of the structure by attaching an additional vibrating body to the structure and applying a damping force using an actuator installed between the structure and the additional vibrating body, vibration of the vibration damping force command is A control method for an active dynamic damper, characterized in that components below the natural frequency of structure vibration, which have a small influence on damping, are removed by a low-pass removal filter.