JPH04161574A - Controlling method for attitude of vibration controller of structure - Google Patents

Abstract

PURPOSE:To reduce a cost and to save an installation space by using only one unit of generation device by controlling an attitude of a rotor of a vibration control moment generation device depending on whether or not translation excels torsion in vibration. CONSTITUTION:A control section 50 decides on whether or not translation excels torsion in the vibration of a structure 60 based on measured values of a pair of sensors 20. And, at the same time, it is confirmed on whether or not a rotor 11 of a vibration control moment generation device 10 makes precession based on a measured value of an attitude instrumentation section 40, and the attitude is recognized. After it is confirmed that the precession is not made, when the rotor 11 rotates at high speed in a horizontal (perpendicular) state, a driving section 30 is driven at very low speed until rotor 11 gets into a perpendicular (horizontal) attitude to rotate it slowly. In addition, the device 10 is shifted from the control against horizontal (torsion) vibration to the control against torsion (horizontal) vibration.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for controlling the attitude of a vibration control device using a gyro mechanism in structures such as high-rise hills and towers.

[Conventional technology]

In order to control vibrations that occur when external forces such as wind or earthquakes act on a structure, the inventor of the present invention discovered that when an angular velocity is applied to the rotational axis of a high-speed rotating body, a moment is generated due to precession. For the invention of a method using the principle of the gyro mechanism, we applied for a patent in the past (Japanese Patent Application No. 1999-1-1).
No. 36727).

As shown in FIGS. 6 and 7, the device used in the invention of this method consists of a frame 3 that pivotally supports the rotating shaft 2 of the rotating body l.
are rotatably supported on support stands 6 and 7 via support shafts 4 and 5 on both axial end sides perpendicular to the rotation axis 2.

When controlling the horizontal vibration of a structure, the rotating body l is rotated at high speed in the horizontal plane, and the external force generated on the structure is controlled in the X direction C.
The angular velocity Ω8, which is the same as the angular velocity of rotational deformation (around the X-axis), is
When given in the X direction (around the X axis) of the rotating body l, the direction perpendicular to this angular velocity Ω8, that is, the X direction (around the X axis)
A moment M is generated, and due to the moments 1 to MY, the rotating body 1 causes rotational motion (precession) in the X direction with an angular velocity Ω, with the X axis as the rotating body, and the rotational motion (precession) in the direction orthogonal to Ω, i.e. Damping moments 1 to M are generated in the X direction (around the X axis).

In response to torsional vibration of the structure, the rotating body 1 is rotated at high speed in a vertical plane to generate a damping moment around the vertical axis.

[Invention or problem to be solved]

As mentioned above, this vibration damping method requires the installation of at least one damping moment generator for vibrations in one direction, and for vibration control in the horizontal direction, it is necessary to place the rotating body l on a horizontal plane. In order to control vibrations in the torsional direction, the rotating body 1 must be rotated at high speed in a vertical plane. Therefore, in structures that are likely to be excited not only by horizontal vibrations but also torsional vibrations, such as tourist towers and super-high-rise structures, at least two damping moment generators are required. A control method that can handle both directions with one device is desired.

In addition, in the above vibration damping method, it is desirable to increase the angular velocity Ω of the precession that occurs in the rotating body 1 of the damping moment generator due to the movement of the structure, and the rotational inertia of the rotating body 1 around the X axis is The positions of the support shafts 4 and 5 with respect to the rotating body 1 are set so that the moment is as small as possible.

For this reason, when controlling horizontal vibration, for example, the rotating body 1
Even when it is tilted to a horizontal plane, it remains stable in that position.

On the other hand, the damping moment Mx in the X direction generated in the rotating body 1 due to precession is expressed by equation (1).

Mx=Ω,・■・ω・CO3θ・・・・・・・・・
...(1) Here, Ω, the angular velocity of the rotating body around the X-axis■ = mass rotational moment of inertia of the rotating body around the X-axis ω・rotational angular velocity of the rotating body θ: on the inclination angle of the rotating body with respect to the horizontal plane From equation (1), in order to increase the damping moment l-Mx,
□It can be seen that it is necessary to control the attitude of the rotating body l so that the precession caused by the movement of the structure occurs around θ=0.

Controlling the attitude of the rotating body 1 is achieved by controlling the damping moment Mx
This is important in order to prevent unnecessary torsional vibrations from being applied to the structure.

When the torsional moment I-M acting on the structure is expressed in relation to equation (1), it becomes equation (2).

M, -Ω7 ・ I ・ ω ・ s1 mouth θ...
・・・・・・・・・・・・(2) This invention was made based on the knowledge obtained regarding the above problem, and uses one vibration damping moment generator to suppress horizontal vibration. An object of the present invention is to provide a method of controlling the attitude of a rotating body so that it can cope with both directions of torsional vibration, and a method of controlling the attitude of the rotating body so that precession occurs when the tilt angle is 0. shall be.

[Means to solve the problem]

In order to achieve the above object, the first invention uses a damping moment generator in which a high-speed rotating body is rotatably supported around a support axis perpendicular to the rotation axis, and the To control the vibration of a structure by generating a vibration damping moment in the direction of the support axis due to the precession of a rotating body around the support axis, we use sensors to measure the translational and torsional movements of the structure, and a posture measurement unit. The measured value of the inclination angle of the rotating body with respect to the horizontal or vertical plane is input into the control unit. Based on these measured values, the control unit determines whether the structure's translational motion or torsional motion is predominant, confirms the presence or absence of precession of the rotating body, and recognizes the attitude of the rotating body. . As a result, if there is no precession movement in the rotating body, but when it is determined that the rotating body is in a horizontal position and torsional movement is predominant, or when the rotating body is in a vertical position and it is determined that translational movement is predominant, vibration damping is performed. A command is issued to a drive unit connected to a support shaft of the moment generator to cause a rotating body in a horizontal position to move to a vertical position, and a rotating body in a vertical position to move to a horizontal position.

In addition, in the second invention, using a damping moment generator in which a high-speed rotating body is rotatably supported around a support axis perpendicular to the rotation axis, rotation around the support axis caused by an external force acting on the structure is used. When controlling the vibration of a structure by generating a vibration damping moment due to the precession of the body in the direction of the support axis, the measured value of the inclination angle of the rotating body with respect to the horizontal or vertical plane by the attitude measurement unit is input to the control unit. . The control unit checks the presence or absence of precession of the rotating body and recognizes the attitude of the rotating body based on the measured values. As a result, if there is no precession of the rotating body and it is determined that the tilt angle of the rotating body has not disappeared, a command is sent to the drive unit connected to the support shaft of the damping moment generator. The rotating body is configured to take out the rotating body and return the attitude of the rotating body to a horizontal state or a vertical state.

〔Example〕

An example of a control device used in the method of the first invention is shown in FIGS. 1 and 2.

The damping moment generating device 10 installed in the structure 60 is the same device as explained in FIGS. 6 and 7 above, and has a disk shape in which the outer circumferential portion is thicker than the inner circumferential portion. A rotating shaft 12 of a rotating body 11 is rotatably supported on the center axis of a flat spindle-shaped frame 13, and the frame 13 has a rotary shaft 12 at both ends in the axial direction perpendicular to the rotating shaft 12 of the rotating body 11. A support shaft 14.15 is attached to the outer periphery, and this support shaft 14,'15 is connected to a support base 16.15 fixed to the structure 60.
The rotating body 11 is rotatably supported by a support shaft 14, 17, and is configured to rotate 360 degrees around a support shaft 14, 15 via a frame 13.

The support shafts 14 and 15 of the damping moment generator 10 are arranged parallel to the horizontal vibration direction X of the structure 60. A pair of sensors (for example, accelerometers) 20 are installed on the same plane of the structure 60 at symmetrical positions about the rotation axis 12 of the rotating body 11 and perpendicular to the support shaft 14.15. 60 in the X direction (response acceleration).

One support shaft 14 of the damping moment generator IO has a
For example, an electric motor is connected as the drive unit 30, and is driven by a command from a control unit 50, which will be described later.

The other support shaft 15 of the damping moment generator 10 includes
For example, an inclinometer is attached as the attitude measuring unit 40, and the inclination angle (
(attitude of the rotating body 11) is measured.

Sensor 20 above. Drive unit 30. The posture measurement unit 40 is
Both are electrically connected to the control section 50, and the control section 50 transmits the following commands (electrical signals) to the drive section 30 based on the measured values of the sensor 20 and the attitude measurement section 40.

The control unit 50 determines that the vibration occurring in the structure 60 is caused by translational movement (
Determine whether horizontal motion (with no torsional motion) is predominant, or whether torsional motion is predominant (in the case of translational motion, a pair of measured values have the same sign; in the case of torsional motion, the pair of measured values have different signs). ).

Further, at the same time, the control unit 50 controls the damping moment generator 1 based on the measurement value input from the attitude measurement unit 40.
It is confirmed whether or not the rotating body 11 of No. 0 is precessing, and its posture is recognized.

After confirming that the rotating body 11 of the damping moment generator 10 is not precessing, the control unit 50 performs the following actions depending on the attitude of the rotating body 11 and the vibration mode of the structure 60. The command is transmitted to the drive section 30.

(1) When the rotating body 11 is rotating at high speed in a horizontal position (
(Fig. 1), and when the structure 60 is subject to significant torsional movement, the drive unit 30 is driven at an extremely low speed until the rotating body II assumes a vertical position (Fig. 2). The body 11 is rotated gently around the support axis 14.15.

As a result, the damping moment generator IO shifts from controlling horizontal vibration to suppressing torsional vibration.

(2) When the rotating body 11 is rotating at high speed in a vertical position (
(Fig. 2), and the structure 60 is subject to significant translational movement, the drive unit 30 is driven at an extremely low speed until the rotating body 11 assumes a horizontal position (Fig. 1). The body 11 is rotated gently around the support axis 14.15.

As a result, the damping moment generating device 10 shifts from controlling torsional vibration to suppressing horizontal vibration.

Since the rotation of the rotating body 11 during the attitude control described above is performed at an extremely low speed, no unnecessary damping moment is applied to the structure 60.

Among the above-mentioned control devices, the sensor 20 that measures the movement of the structure 60 is not limited to an accelerometer, but may be a displacement meter, a speed meter, an inclinometer, or the like.

Furthermore, the drive section 30 of the damping moment generator 10 may use a hydraulic actuation mechanism instead of the electric motor.

Next, the method of the second invention will be explained.

FIG. 3 is an example of a control device used in this method.

The damping moment generator 10 installed in the structure 60 is for horizontal vibration control, but its configuration is substantially the same as that of the device shown in FIG. Identical components are designated by the same reference numerals.

Also, one support shaft 14 of the damping moment generator 10
The drive unit 30 connected to the support shaft 15 and the attitude measurement unit 40 attached to the other support shaft 15 also have the same configuration as the first invention.

The drive unit 30 and the attitude measurement unit 40 described above are electrically connected via the control unit 50, and the control unit 50 gives the following commands to the drive unit 30 based on the measured value of the attitude measurement unit 40.
It is designed to transmit (electrical signals).

The control unit 50 checks whether the rotating body 11 of the damping moment generator 10 is precessing based on the measurement value input from the attitude measurement unit 40, and recognizes its attitude.

When the rotating body 11 of the damping moment generator 10 is not precessing and the inclination angle of the rotating body 11 with respect to the horizontal plane is not zero, the rotating body 11 is in a horizontal position (the inclination angle is zero). Then, the drive unit 30 is driven at an extremely low speed to slowly rotate the rotating body 11 around the support shaft 14.15.

As a result, the attitude of the rotating body 11 returns to the horizontal state. Since the rotating body 11 rotates at a very low speed until it assumes a horizontal position, no unnecessary damping moment is applied to the structure 60.

In the above control method, the rotating body 11 is rotated at high speed in a horizontal plane to control horizontal vibration of the structure 60, or
Even in the case where the rotating body 11 is rotated at high speed in a vertical plane to control the torsional vibration of the structure 60, the torsional force of the rotating body 11 can be controlled using a similar method. In this case, the inclination angle of the rotating body 11 with respect to the vertical plane is measured.

In addition, among the above-mentioned control devices, the drive unit 30 of the vibration damping moment generator 10 may use a hydraulic actuation mechanism instead of the electric motor.

4 and 5 are other examples of the control mechanism used in the method of the second invention.

In the mechanism shown in FIG. 4, the support shafts 14 and 15 of the damping moment generator IO are arranged slightly above the center of gravity of the rotating body 11, so that when the rotating body 11 is tilted, The rotating body 11 automatically returns to a horizontal position due to its own gravity.

The mechanism shown in FIG. 5 has a weight 55 attached to the lower part of the frame 13 of the damping moment generator 10, and the weight of the weight 55 causes the rotating body 11 to return to the horizontal position as in FIG. That's how it is.

〔Effect of the invention〕

As explained above, according to the method of the first invention, depending on whether the vibration of the structure is predominant in translational motion or torsional motion, the rotating body of the damping moment generator can be placed in a horizontal state or in a horizontal state. Since the configuration controls the posture so that it is in a vertical state, it is possible to control vibrations in both the horizontal and torsional directions using one distributed moment generator, reducing costs and reducing installation space. An effect that contributes to savings can be obtained.

Further, according to the method of the second invention, the attitude of the vibration damping moment generator is controlled so that the inclination angle of the rotating body with respect to the horizontal or vertical plane becomes zero, and the structure is configured such that precession occurs in this attitude. Therefore, the required damping moment is not too large, and unnecessary vibrations are not applied to the structure, resulting in a high damping effect.

[Brief explanation of drawings]

FIG. 1 is a plan view showing an example of the attitude control device used in the method of the first invention, FIG. 2 is an elevational view of FIG. 1, and FIG.
FIGS. 4 and 5 are longitudinal side views showing an example of the attitude control device used in the method of the invention, respectively, and FIG. 6 is a longitudinal side view showing other control examples of the second invention, and FIG. The plan view, FIG. 7, is a view taken along the line II in FIG. 6. In the figure, 10 is a damping moment generator, 11 is a rotating body,
12 is a rotating shaft, 14.15 is a support shaft, 20 is a sensor,
30 is a drive unit, 40 is an attitude measurement unit, 50 is a control unit, 60
is a structure. H″″″′1

Claims (2)

[Claims] (1) Using a damping moment generator that rotatably supports a high-speed rotating body around a support axis perpendicular to the rotation axis, the precession of the rotating body around the support axis is caused by an external force acting on the structure. In order to control the vibration of the structure by generating a damping moment in the direction of the support axis, the sensors measure the translational and torsional movements of the structure, and the attitude measurement unit measures the inclination of the rotating body with respect to the horizontal or vertical plane. The measured value of the angle is input to the control unit, and the control unit determines whether the translational motion or torsional motion of the structure is predominant, and determines the precession motion of the rotating body based on each of the above measured values. As a result of checking the presence and recognizing the attitude of the rotating body, there is no precession in the rotating body, but the rotating body is in a horizontal position and torsional movement is dominant, or the rotating body is in a vertical position and translational. When the motion becomes predominant, a command is sent to the drive unit connected to the support shaft of each vibration damping moment generator, and the rotating body in a horizontal position shifts to a vertical position, and the rotating body in a vertical position shifts to a horizontal position. A posture control method for a vibration control device for a structure, characterized in that: (2) Precession of the rotating body around the support axis caused by external force acting on the structure using a damping moment generator in which a high-speed rotating body is rotatably supported around a support axis perpendicular to the rotation axis. To control the vibration of the structure by generating a vibration damping moment in the direction of the support axis, the measurement value of the inclination angle of the rotating body with respect to the horizontal or vertical plane by the attitude measurement unit is input to the control unit, and the control unit Based on the measured values, as a result of checking the presence or absence of precession of the rotating body and recognizing the attitude of the rotating body, there is no precession of the rotating body and the inclination angle of the rotating body is not zero. A method for controlling the attitude of a vibration control device for a structure, characterized in that the attitude of a rotating body is returned to a horizontal state or a vertical state by issuing a command to a drive unit connected to a support shaft of a vibration damping moment generator. .