JPH0455577A - Vibration controlling device of construction - Google Patents

Abstract

PURPOSE:To increase vibration controlling performance by obtaining actuator driving signals from construction feedback signals obtained by passing vibration speed signals of a construction through a band pass filter and vibration speed signals of an additional weight. CONSTITUTION:Construction feedback signals are obtained by passing vibration speed signals of a construction 1 detected by the first vibration detector 3 through a band pass filter 5 having a maximum gain by natural frequency of the construction 1 and damping smoothly in a component other than that. After that, driving signals of an actuator 6 are obtained from vibration speed signals of an additional weight 8 obtained from detection signals of the second vibration detector 11 and the construction feedback signals to control the actuator 6, and the additional weight 8 is driven. According to the constitution, the compact device with high performance can be made.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a vibration damping device that reduces vibrations of structures such as buildings, antennas, nuclear power control panels, etc. This invention relates to a servo attenuator that uses external energy through electromagnetic control.

[Conventional technology]

FIG. 4 is a partial cross-sectional configuration diagram showing a conventional structure vibration damping device disclosed in, for example, Japanese Patent Laid-Open No. 123675/1982. In the figure, (1) is a structure that generates vibrations when subjected to an external force such as an earthquake, such as a building, an antenna, or a control panel for a nuclear power plant.

(2) is the ground on which the structure (1) is installed, and (3) is a first vibration detector that detects horizontal vibration of the structure (1), which is an accelerometer in this example.

(11) is a second vibration detector that detects horizontal vibration of the additional weight (8), and in this example is an accelerometer. (4
) are these first and second vibration detectors (3), (1
This is a control circuit that controls an actuator (6) based on a detection signal from 1) and drives an additional weight (8) coupled to a drive section (7) of this actuator (6). (9)
(10) is a mounting base that fixes the stationary part of the actuator (6) to the structure (1), and (10) is the mounting plate that fixes the stationary part of the actuator (6) to the structure (1).
) is a spring inserted between.

FIG. 5 is a block diagram showing a control system for the vibration damping device of the structure shown in FIG. 4. In the figure, (3) is the first vibration detector, (11) is the second vibration detector, (6) is the actuator, and (4) is the control circuit. (4b) and (4c) are integral circuits, (4
e) is an arithmetic circuit.

6 is an enlarged sectional view showing an example of the actuator in the vibration damping device for the structure shown in FIG. 4. FIG. In the figure, (6
) is an actuator, (6a) is a cylindrical permanent magnet, (
6b) is a cylindrical center pole, (6c) is an excitation yoke, (6d) is a drive coil, (6e) is a drive coil (6d)
), and an additional weight (8) is fixed to the other end of the support (6e), making it possible to freely move it back and forth in a straight line. The stationary part of the actuator 6) is fixed to the structure (1) via a stand (9). In addition, (7) is a drive part of the actuator (6), and (10) is a spring.

Next, the operation of the conventional vibration damping device for a structure will be explained with reference to FIGS. 4 to 6. When the structure (1) vibrates horizontally due to ground vibration caused by an external force such as an earthquake, the vibration acceleration of the structure (1) is measured by the first vibration detector (3) and by the additional weight (8). The vibration acceleration of
The vibration detector (11) detects each as an electric signal. This electrical signal is transmitted to the control circuit (4),
Integration circuits (4a) and (4b) perform one-order integration to obtain vibration velocity vibration, and the vibration velocity signal of the structure (1) transmitted via the integration circuit (4a) is one-order integration to produce vibration. It becomes a displacement signal. Each integrating circuit (4a) to (4
The signals from c) are the phases of each signal.

An arithmetic circuit (4e) adjusts the gain and obtains the required output.
) performs addition and subtraction, and the power is amplified based on the output signal of this arithmetic circuit (4e) to control the drive of the actuator (6) and drive the additional weight (8).

In this way, the first vibration detector (3) detects the vibration of the structure (1) and the second vibration detector (3) detects the vibration of the additional weight (8).
A field back servo machine is configured to drive an actuator (6) in accordance with a detection signal from a vibration detection B (11). In addition, the control signal from the control circuit (4), that is, the drive current is transmitted to the drive coil (
6d), and as a result, an electromagnetic force is generated in the drive coil (6d) due to the electromagnetic effect, and the additional weight ( 8) is driven horizontally.

At this time, the integrating circuits (4a) to (4c) in the control circuit (4>
) and the arithmetic circuit (4e) are as follows. First, the damping system that extends from the first vibration detector (3) through the integrating circuit (4a) to the actuator (6) applies a damping force, which is a driving force according to the vibration speed of the structure (1), to the structure. (
1-), and improves the damping characteristics of the structure (1), that is, the dynamic rigidity. The control system from the integral circuit (4c) to the actuator (6) is connected to the structure (1).
It has a function of applying a driving force to the structure (1) according to the vibration displacement of the structure (1), and improves the spring characteristics, that is, the static characteristics of the structure (1). The control system from the second vibration detector (11) attached to the additional weight (8) to the actuator (6) via the integrating circuit (4b) generates a driving force according to the vibration speed of the additional weight (8). This is an additional weight (8)
This is to provide a damping force to the additional weight (8), thereby suppressing oscillation of the additional weight (8) and stabilizing it.

[Problem to be solved by the invention]

Conventional vibration damping devices for structures are configured as described above, and are effective in improving the damping characteristics of structure (1). In this case, the problem arises that the stroke, which is the relative displacement between the actuator (6) and the additional weight (8), increases. Conventionally, bandpass filters with good blocking characteristics have been used to prevent these problems, but when the spectral components span a wide band, such as with wind input, the damping performance of the damping device deteriorates. There was a problem.

This invention was made to solve the above-mentioned problems, and it is possible to reduce the stroke even when a relatively wide range of low-frequency vibration human force such as wind load is applied, and to reduce the stroke required to drive the actuator. The objective is to obtain a high-performance vibration damping device for structures that can reduce control force and electric power, has a small part mounted on the structure, and has high performance.

[Means to solve the problem]

A vibration damping device for a structure according to the present invention includes an actuator installed in a structure that generates vibration in response to an external force, an additional weight driven by the actuator, and a first vibration detection device that detects the vibration of the structure. a second vibration detector that detects the vibration of the additional weight, and a vibration velocity signal of the structure itself from the detection signal of the first vibration detector, and a detection signal of the second vibration detector. By obtaining the vibration velocity signal of the additional weight from , and passing the vibration velocity signal of the structure through a band-pass filter that has a maximum gain at the natural frequency of the structure and smoothly damps other components. Obtain a structure feedback signal, obtain a drive signal for the actuator from this structure feedback signal and a vibration velocity signal of the additional weight, control the actuator based on this signal, and drive the additional weight. It is equipped with a control circuit that allows the

[Effect]

In the vibration damping device for a structure according to the present invention, when an external force of relatively wide-band low-frequency vibration such as wind load acts on the structure, the maximum gain is at the natural frequency of the structure, and the other components are By using a smoothly damped bandpass filter, the control force applied to the structure by the additional weight is small in areas other than the natural frequency of the structure, and the fluctuations of the natural frequency of the actuator system and wind load are reduced. Since resonance with the dominant frequency can be avoided, the stroke of the actuator can be reduced, and the characteristics of the bandpass filter are smoothly attenuated. Since the vibration damping effect is effective even when the filter is inserted, the vibration damping performance does not deteriorate even when the filter is inserted. It will be done.

(Example) An example of the present invention will be described below with reference to the drawings.
The figure is a partially sectional configuration diagram showing a vibration damping device for a structure according to an embodiment of the present invention. In Figure 1, (1) is a structure that vibrates when subjected to external forces such as wind or earthquakes, such as buildings, antennas, and nuclear power control panels. (2)
is the ground on which structure (1) is installed, and (3) is the ground where structure (1) is installed.
), which in this example is the maxillary velocity system. (11) is a weighted weight (8)
A second vibration detector detects vibrations in the horizontal direction, which in this example is an acceleration system. (5) is a bandpass filter, which has a maximum gain at the natural frequency of the structure (1) and is configured to smoothly attenuate other components. (4) is a control circuit, and the first vibration detector (3)
The vibration velocity signal of the structure (1) is determined from the detection signal of the additional weight (8), and the vibration velocity signal of the structure (1) is determined from the detection signal of the second vibration detector (11).
), the vibration velocity signal of the structure is passed through a band pass filter to obtain a structure feedback signal, and from this structure feedback signal and the vibration velocity signal of the additional weight, the actuator ( 6)
Based on this signal, the actuator (
6), and the drive section (7) of this actuator (6).
) is used to drive an additional weight (8) connected to the

(9) connects the stationary part of the actuator (6) to the structure (1).
The mounting that fixes it to is a stand.

Now, the vibration reduction principle of the vibration damping device for a structure according to the present invention is based on the following equation that holds true when a forcing force (external force) and a control force act on the structure (1).

However, M: mass of structure (1) Ks: Stiffness of n Xs:　　　　　　　//　displacement md: Mass of additional weight (8) X(1:　　　　　//　displacement F: External force U: Control power Here, the control force U is configured as follows.

U = C5 - G - Cross S Cdxd -■ However, C5: Velocity feedback gain of the structure (improvement of dynamic stiffness) Cd: Additional weight velocity feedback gain (stabilization) G: Filter gain Add the above formula 0 to the above formula 0 Substituting , it becomes , and as can be seen from equation (2), each characteristic can be improved by each feedback gain.

Here, when ■ is converted to Laplace, ...■ Tashi, S nilaplus operator Xs(S), Xd(S), G(S), F(S)
:The first Laplace transform of XS, Xd, G, and F, respectively.
The filter gain C(S) in the equation is a function of the angular frequency W.

FIG. 2 is a block diagram showing a control system for the vibration damping device of the structure shown in FIG. In the figure, (4) is a control circuit, and (4a), (4
b) is an integrating circuit, and (4e) is an arithmetic circuit. Also (5
) is a band pass filter, (5a) in this band pass filter (5) is a filter shape setting circuit, and (5b
) is a filter circuit.

The integrating circuit (4a) converts the vibration acceleration signal of the structure (1) detected by the first vibration detector (3) into a vibration velocity signal, and the integrating circuit (4b) converts the vibration acceleration signal of the structure (1) detected by the first vibration detector (3) into a vibration velocity signal. (11
) is converted into a vibration velocity signal of the vibration acceleration signal of the additional weight (8). Further, the arithmetic circuit (4e) receives a signal obtained by passing the signal of the integrating circuit (4a) through the filter circuit (5b) and a signal from the integrating circuit (4b), so as to obtain a desired output. The phase and gain of each signal are adjusted and addition/subtraction is performed using the above and (2) formulas. Power is amplified based on the output of the arithmetic circuit (4e) to control the drive of the actuator (6) and drive the additional weight. In this way, in response to detection signals from the first vibration detector (3) that detects vibrations of the structure (1) and the second vibration detector (11) that detects vibrations of the additional weight (8), This constitutes a feedback servo mechanism that drives the actuator (6).

FIG. 3 shows the shape of one embodiment of the filter G(S), which is expressed by the formula 0.

However, w3: Natural angular frequency of the structure This band-pass filter (5) has a maximum gain at the natural angular frequency of the structure, and decreases smoothly for other components, so Even if the natural angular frequency changes slightly, the control effect does not change.

Table 1 shows the structure vibration damping device according to an embodiment of the present invention and the conventional vibration damping device, each with a wind speed of 30 m/s.
The displacement and acceleration generated on the structure (11) when three types of wind loads of , 40 m/s, and 56 m/s are applied, the stroke required for the additional weight (8), and the control force and power required to drive the actuator are calculated. This is an effect comparison table.

As is clear from this effect comparison table, by using the bandpass filter (5), the stroke and control force can be reduced without deteriorating the vibration reduction effect of the structure.

Power can be significantly reduced. For example, when the wind speed is 30+o/s, the stroke is 32%, the control force is 89%, and the power is 5
This decreases to 4%, which makes the effect of this invention noticeable.

(Left below) In the above example, the case where this device was installed on the top floor of the structure (1) was shown, but it goes without saying that the same effect as in the above example can be achieved even if it is installed on any floor. stomach.

Further, in the above embodiment, the cabinet 1. a second vibration detector (3),
Although a case has been described in which an accelerometer is used as (11), a speedometer may also be used, and in this case, the integrating circuits (4a) and (4b) shown in FIG. 2 are unnecessary.

Further, as the actuator (6), in addition to an electromagnetic actuator, any of a pneumatic actuator and a hydraulic actuator may be used.

〔Effect of the invention〕

As described above, according to the present invention, there is provided an actuator installed in a structure that generates vibrations in response to an external force, an additional weight driven by the actuator, and a first vibration detector that detects vibrations of the structure. , a second vibration detector that detects the vibration of the additional weight, a vibration velocity signal of the structure from the detection signal of the first vibration detector, and a vibration velocity signal of the structure from the detection signal of the second lifting detector. The vibration velocity signal of the additional weight is obtained, and the vibration velocity signal of the structure is passed through a bandpass filter that has a maximum gain at the natural frequency of the structure and smoothly attenuates other components. a control circuit that obtains a structure feedback signal, obtains a drive signal for the actuator from the structure feedback signal and a vibration velocity signal of the additional weight, controls the actuator based on this signal, and drives the additional weight; This makes it possible to reduce the stroke even when relatively wide-band low-frequency vibration human force such as wind load is applied, and the control force and electric power required to drive the actuator can be reduced, making it possible to reduce the amount of force that is required to drive the actuator. However, it is effective as a small and high-performance vibration damping device for structures.

[Brief explanation of the drawing]

FIG. 1 is a partial cross-sectional configuration diagram showing a vibration damping device for a structure according to an embodiment of the present invention, FIG. 2 is a block diagram showing a control system of the structure shown in FIG. 1, and FIG. A filter characteristic diagram showing an example of a filter shape set in a pass filter, Fig. 4 is a partial cross-sectional configuration diagram showing a conventional vibration damping device for a structure, and Fig. 5 shows a vibration damping device of the one shown in Fig. 4. FIG. 6 is an enlarged sectional view showing an example of an actuator used in the vibration damping device of the structure shown in FIG. 4. In the figure, (1) is the structure, (2> is the ground, (3) is the first vibration detector, (4) is the control circuit, and (4a) (
4b) is an integration circuit, (4e) is an arithmetic circuit, (5) is a bandpass filter, (5a) is a filter shape setting circuit, (
5b) is a filter circuit, (6) is an actuator, (8
) is an additional weight, and (11) is a second vibration detector. In addition, in the figures, the same reference numerals indicate the same or equivalent parts.

Claims (1)

[Claims] an actuator installed on a structure that generates vibrations in response to an external force; an additional weight driven by the actuator; a first vibration detector that detects vibrations of the structure; and a first vibration detector that detects vibrations of the additional weight. a second vibration detector, a vibration velocity signal of the structure from the detection signal of the first vibration detector, and a vibration velocity signal of the additional weight from the detection signal of the second vibration detector, and obtain the vibration velocity signal of the additional weight from the detection signal of the second vibration detector; A structure feedback signal is obtained by passing the vibration velocity signal of the object through a bandpass filter that has a maximum gain at the natural frequency of the structure and smoothly attenuates other components. A vibration damping device for a structure, comprising: a control circuit that obtains a drive signal for the actuator from the vibration velocity signal of the additional weight, controls the actuator based on the signal, and drives the additional weight.