JPH0480476A - Control method of dynamic vibration reducer device for building - Google Patents

Abstract

PURPOSE:To utilize the capacity of a dynamic vibration reducer at all times, and to inhibit vibrations extremely by installing a dynamic vibration reducer device enabling active control by an actuator and changing over control systems at three stages by the extent of the disturbance of a wind and an earthquake. CONSTITUTION:Added mass M13 is placed on the floor face 3 of the uppermost layer of a building 2 movably in the horizontal direction, and a spring 42 working in the horizontal direction, a damper 43 and an actuator 44 are interposed between a fixing member 41 unified with the floor face 2 and the added mass M13, and driven by the control of a control circuit 18, thus forming an active dynamic vibration reducer. The control circuit 18 adopts three kinds of control systems on the basis of the detecting signal of a vibration sensor 17 mounted to the ground 1, and complete active control is conducted in a weak shock of an earthquake of the 3rd degree of earthquake intensity or less, model matching control in a middle shock of the earthquake from the 3rd degree to the 5th degree and displacement is controlled in a severe shock of the earthquake of the 5th degree or more respectively.

Description

[Detailed description of the invention] Cliff! TECHNICAL FIELD The present invention relates to vibration control for reducing vibrations caused by earthquakes and wind in flexible structures such as high-rise buildings, pencil buildings, and various towers, and particularly to a method for controlling dynamic vibration absorbers for buildings.

Tall buildings, such as high-rise buildings, pencil buildings, and various towers, use flexible structures to absorb vibration energy and improve seismic strength.

In the case of buildings with this flexible structure, the building itself sways in a single vibration system during earthquakes and strong winds, but even in normal winds, the swaying becomes large and there is a risk that livability may be impaired. A method has been adopted in which an additional mass is attached to achieve a secondary spring mass system.

In other words, by setting the natural frequencies of the main spring mass system of the building itself and the side spring mass system to be approximately the same, a dynamic vibration absorber ( It has been proposed to provide a dynamic damper) device.

Conventionally, this type of dynamic vibration absorber device for buildings measures the relative displacement and relative speed of the additional mass in the mass damper with the installation floor, and the relative displacement and relative speed between the building and the ground, and feeds it back to the controller to determine the absolute So-called optimal regulator control has been used to control actuators to minimize acceleration.

For example, JP-A No. 2-85476, JP-A No. 2-854
No. 77, JP-A-2-85478, JP-A-Hei 2-
What is described in Publication No. 85479, etc. shows the above-mentioned optimal regulator control, which reduces the vibration amplitude of the building due to the vibration absorption effect of the control, and reduces the overall deformation of the building (
and are trying to improve livability.

However, in the past, optimal regulator control was always performed, and when a building is subject to weak earthquakes up to about 3 on the seismic intensity scale and disturbances due to wind, it is possible to control the vibration of the entire building, which is very effective. However, in the case of moderate and strong earthquakes exceeding seismic intensity 3, not only does the stroke of the mass damper become excessive, but optimal control requires extremely excessive driving force from the mass damper actuator, making it difficult to achieve. There was a problem.

The present invention was made in view of the above, and its purpose is to respond to earthquakes with a seismic intensity of 3 or higher by changing the control method, and to constantly operate the dynamic vibration absorber effectively to protect buildings. The object of the present invention is to provide a method for controlling a dynamic vibration absorber device for a building that can reduce vibrations.

In order to achieve the above objects, the present invention provides a dynamic vibration absorber device that can be actively controlled by an actuator on the rooftop of a building or a floor near it, and the additional mass of the dynamic vibration absorber device is removed from the building and the ground. In the method of driving and controlling the actuator of the dynamic vibration absorber device based on the detection signal from the vibration sensor that detects each vibration, the absolute acceleration of the building is minimized when the building is subjected to a weak earthquake of up to about 3 on the seismic intensity scale or disturbance due to wind. In the case of moderate earthquakes from seismic intensity 3 to seismic intensity 5, the natural frequency of the building is identified from the building's absolute acceleration, and the additional mass is optimally set for passive dynamic vibration absorption. Model matching control is used to control the actuator equally with the movement of the device, and in the case of a strong earthquake with a seismic intensity of about 5 or higher, displacement control is used to control the actuator so that the relative displacement of the additional mass to the installation floor does not exceed a predetermined displacement. This is a control method for a dynamic vibration absorber device for a building, in which control of an actuator is stopped and the device operates as a passive dynamic vibration absorber.

During weak earthquakes and when wind disturbances occur, large vibration reduction effects can be obtained through optimal regulator control, and during moderate earthquakes, the control force is minimized and optimally tuned using model matching control, similar to a passive mass damper. It can be activated to reduce vibrations, and in the event of a strong earthquake, it can be used as a displacement control or as a passive dynamic vibration absorber to prevent excessive displacement of the mass damper and ensure safety as much as possible.

2. Hereinafter, one embodiment of the present invention illustrated in FIGS. 1 to 1O will be described.

FIG. 1 is a schematic elevational view of a building equipped with the vibration control device of this embodiment.

A tower-shaped building 2 is constructed on a ground 1, and a vibration control device 10 according to the present invention is installed on the top floor of the building 2.

The building 2 has, for example, a square, rectangular, or diamond-shaped floor surface with sides of about 10 to 25 m, and a height of 60 to 1 m.
A typical example is a building constructed with a steel frame structure that is up to 50 meters long and shakes with a natural period of about 2 seconds and an amplitude of several tens of millimeters due to wind pressure, and this embodiment is also targeted at such a building.

A dynamic vibration reducer 11 is installed on the floor surface 3 of the uppermost floor of the building 2, with an additional mass M13 held therein via horizontal spring means 12.

The rond end of a hydraulic cylinder 14, which is an actuator separately fixed to the building 2, is fixed to the additional mass M13, and the additional mass M1 is driven by the hydraulic cylinder 14.
3 is movable parallel to the floor surface 3.

Vibration sensors 15, 16, and 17 are installed on the floor 3 of the building 2, the additional mass M13, and the ground 1, respectively. Each vibration of the ground 1 is detected.

The detection signals of the vibration sensors 15, 16, and 17 are input to the control circuit 18, and based on the detection signals, the control circuit 18 generates a control signal and outputs it to the hydraulic cylinder 14 to control the drive of the hydraulic cylinder 14. do.

The vibration control device IO is configured as described above, and when the control circuit 18 inputs and analyzes the detection signals of the vibration sensors 15, 16, and 17 and controls the hydraulic cylinder 14 to reduce the shaking of the building 2, The hydraulic cylinder 14 displaces the additional mass M13 horizontally with respect to the floor surface 3 and functions as an active dynamic vibration absorber, thereby suppressing the shaking of the building 2.

That is, the vibration control device 1O uses the building 2 having a flexible structure as a main vibration system, and connects the dynamic vibration absorber 11 consisting of the horizontal spring means 12 and the additional mass M13 as a sub-spring mass system having approximately the same vibration period. By forcibly exciting the additional mass M13 with the hydraulic cylinder 14, even if the building 2 sways due to excitation forces in various wide frequency bands, control can be performed to effectively reduce the sway.

FIG. 2 and FIG. 3 show the dynamic vibration absorber 11 of the sub-spring mass system.
FIG. 2 is a front view and a cross-sectional view of

The horizontal spring means 12 is configured as a multi-stage elastic unit in which laminated elastic bodies (laminated rubber) 20 and stabilizing plates 21 are alternately stacked in four stages between the floor surface 3 and the additional mass M13. A laminated elastic body 20 is fixed at four locations on each upper and lower surface.

The three stabilizing plates 21 have a square shape, and the laminated elastic bodies 20 are fixed to four places on each upper and lower surface, so that the corresponding laminated elastic bodies 2
This is a rigid connecting plate that connects the upper and lower ends of the 0, and is interposed to increase the horizontal displacement ability to elastically change without buckling when subjected to lateral loads due to earthquakes or wind.

Dampeners 22 for damping horizontal vibrations are installed in a predetermined arrangement between the upper and lower stabilizers 21 that face each other.

As shown in FIGS. 4 and 5, the laminated elastic body 20 is formed by alternately laminating rubber or other elastomer materials 25 and metal reinforcing plates 26 and integrating them into a cylindrical shape. It has a structure that is highly rigid in the vertical direction and elastic in the horizontal direction.

Note that rectangular flange plates 27 are integrally fixed to the upper and lower surfaces of the laminated elastic body 20, and the 4
By inserting bolts into the mounting holes 28 drilled in the corners, the flange plate 27 is attached to the floor surface 3, the additional mass M13, or the stabilizer plate 2.
It can be fixed to 1.

Next, the configuration of the control circuit 18 for driving and controlling the hydraulic cylinder 14 is shown in a block diagram in FIG.

Vibration sensors installed at each predetermined position 15.16.17
The detection signal is first input to a charge amplifier 31 and amplified, passes through a low-pass filter LPF 32 to extract signals in the low frequency range, and then each signal is input to a signal processor 34 as a digital signal by an A/D converter 33. Ru.

The signal processor 34 performs the most important control signal generation function in the control circuit 18, and the control signal is a D/A
It is output to the converter 35 and converted into an analog signal,
Next, a low frequency band signal is extracted through a low pass filter LPF 36, amplified by a power up 37, and outputted to the hydraulic cylinder 14 as a drive signal.

The hydraulic cylinder 14 is driven according to this drive signal to vibrate the additional mass M13.

The present embodiment has the above-mentioned configuration, and the entire system can be schematically displayed as shown in FIG. 7.

An additional mass M13 is placed on the uppermost floor 3 of the building 2 that stands on the ground 1 so as to be movable in the horizontal direction, and a spring acts horizontally between the fixed member 41 that is integrated with the floor 3 and the additional mass M13. 42, a damper 43, and an actuator 44 are interposed.

Here, the spring 42 and the damper 43 are based on the elasticity and damping ability of the laminated elastic body 20, and the actuator 4
4 corresponds to the hydraulic cylinder 14.

When the actuator 44 is not present, it forms a passive dynamic vibration absorber, and when the actuator 44 is added, the control circuit 18
An active dynamic vibration absorber is constructed by being driven under the control of

The control method by the control circuit 18 of this embodiment will be explained below.

The control circuit 18 includes a vibration sensor 17 installed on the ground 1.
Three types of control methods are adopted based on the detection signal of
Is there a complete active system for weak earthquakes below seismic intensity 3 (ground motion acceleration 50 gal)? Il (optimal regulator system? Il) is implemented, and semi-active system fD (model matching system? I) is used for moderate earthquakes from seismic intensity 3 to seismic intensity 5 (50 to 200 gal).
In the case of strong earthquakes with a seismic intensity of 5 (200 gal) or higher, displacement control is carried out.

The apparent attenuation rate of the building under these three types of control methods is as shown in FIG. 8, and the apparent attenuation rate decreases stepwise in the order of active control, semi-active control, and displacement control.

Note that active control is performed when wind disturbances occur.

First, during active control during a weak earthquake, the vibration sensor 15 detects the relative displacement and relative velocity of the additional mass M13 with respect to the floor surface 3.
．． At the same time as measuring from the detection signal of 16, the ground 1 of building 2
Vibration sensor 15.17
Optimum regulator control is performed to drive and control the actuator 44 (hydraulic cylinder 14) so that the absolute acceleration of the building 2 is minimized.

(see FIG. 8, which shows a large vibration damping rate), the amplitude of the shaking of the building 2 can be suppressed to a small level as shown in FIG. 9.

In FIG. 9, the upper row shows the case where optimal regulator control is not performed, and the lower row shows the case where optimal regulator control is performed, and the amplitude is significantly reduced.

However, this optimal regulator control attempts to minimize the absolute acceleration of the building 2, and is designed to minimize vibrations of moderate earthquakes or higher (
If you try to deal with more than the It scale, the additional mass M13
This is difficult to realize because there is no margin in the stroke and the load on the hydraulic cylinder 14 exceeds its limit.

Therefore, in the case of a medium earthquake, the absolute acceleration of building 2 is measured,
The natural frequency of the building 2 is identified from the absolute acceleration, and model match control is performed to control the hydraulic cylinder 14 equally to the movement of the passive dynamic vibration reducer with the additional mass M13 optimally adjusted.

For example, the state in which the additional quality IFM 13 is optimally adjusted is as follows.
It is obtained by calculating the damping ratio ζd and the natural circular frequency ωd of the dynamic vibration absorber from equations (1) and (2) shown below.

Gud = [3ρ/(8(1+ρ＞＞ ]”+(
0,130+0.12ρ+0.4 ρ2)ζ3-(0
,01+0.9 ρ+3ρ2)ζ,2−・−・・(1
)ωd/ωg=1/(1+ρ) −(0,241+ 1.74ρ−2,6ρsuζ$−(1
,00-1,9ρ+ρ2)ζ 1 ・−・−(2) Here, ρ=M (added mass)/M, (building mass ζ is the damping ratio of the building, and ωyo is the natural frequency of the building. .

By controlling in this way, the dynamic vibration absorber 11 has an additional mass M
13 operates like an optimally adjusted passive dynamic vibration absorber, and the apparent equivalent damping rate of the building is also quite high (No. 8
), and looking at the vibration response magnification of the building, as shown in Figure 1θ, the part that resonated and stood out at the natural frequency before the optimal adjustment (Figure 10(a)) was affected by this model matching control. (Figure 10, etc.)).

However, in the case of a strong earthquake exceeding seismic intensity 5, the model matching control described above cannot be expected to be effective. This is dealt with by performing displacement control that controls the relative displacement of the additional mass M13 so as not to exceed a predetermined displacement through feedback.

Alternatively, when the additional mass M13 has a relative velocity and relative displacement Ii of a certain level or more, the control is stopped and it is simply used as a passive dynamic vibration absorber.

In this case, the hydraulic circuit of the hydraulic cylinder 14 may be switched to generate a large damping force using a throttle valve provided with a bypass, that is, the hydraulic cylinder 14 may be used as a damper to suppress the displacement of the additional mass M13 as much as possible.

As described above, according to this embodiment, by switching the control method in three stages depending on the magnitude of wind disturbance and earthquake, the ability of the dynamic vibration absorber 11 can be effectively used to always obtain the optimum vibration suppression effect. I can do it.

The present invention improves the vibration reduction effect by performing optimal regulator control in a dynamic vibration absorber device for a building when it is subjected to wind disturbance or in weak earthquakes, and uses model pine in case of moderate earthquakes where optimal regulator control is not possible. It performs vibration control and acts as an optimally tuned dynamic vibration absorber to suppress vibration with a small control force, and in the case of strong earthquakes, it acts as a displacement control or passive dynamic vibration absorber to prevent excessive displacement of the added mass and improve safety. can be increased as much as possible.

As described above, by switching the control method in three stages depending on the degree of wind disturbance and earthquake, it is possible to always maximize the ability of the dynamic vibration absorber and suppress vibrations as much as possible, regardless of the magnitude of the earthquake.

[Brief explanation of the drawing]

FIG. 1 is a schematic elevational view of a building equipped with a vibration control device according to an embodiment of the present invention, FIG. 2 is a front view of a dynamic vibration absorber of the same embodiment, and FIG. -■ sectional view, FIG. 4 is a front view of the laminated elastic body, FIG. 5 is a V-■ sectional view of FIG. 4, FIG. 6 is a block diagram of the control circuit of the same embodiment, and FIG. is a schematic diagram of the overall system of the same example, Figure 8 is a diagram showing the apparent attenuation rate of the building due to the control method of the same example, Figure 9 is a diagram also showing amplitude changes, and Figure 10 is model matching. It is a figure which shows the effect by control. 1...Ground, 2...Building, 3...Floor surface, 10...
- Vibration control device, 11... Dynamic vibration absorber, 12... Horizontal spring means, 13... Additional mass M, 14... Hydraulic cylinder, 15° 16, IT... Vibration sensor, 18.
... Control circuit, 20 ... Laminated elastic body, 21 ... Stabilizer, 22 ... Attenuator, 25 ... Elastomer material, 2
6... Reinforcement plate, 27... Flange plate, 28.
...Mounting hole, 31...Charge amplifier, 32...Low pass filter LPF, 33...A/D converter, 34...Signal processor, 35...D/A converter, 36... Low pass filter LPF, 37... Power amplifier, 41... Fixed member, 42... Spring, 43... Damper, 44... Actuator.

Claims (1)

[Claims] A dynamic vibration absorber device that can be actively controlled by an actuator is provided on the roof of a building or a floor near it, and a vibration sensor detects each vibration of the added mass of the dynamic vibration absorber device, the building, and the ground. In the method of driving and controlling the actuator of the dynamic vibration absorber device based on the detection signal of the seismic intensity, the optimal regulator control controls the actuator so that the absolute acceleration of the building is minimized when the building is subjected to a weak earthquake of up to about 3 on the seismic intensity scale or a disturbance due to wind. In the case of a moderate earthquake from seismic intensity 3 to seismic intensity 5, the building's natural frequency is identified from the building's absolute acceleration, and the actuator is controlled to equalize the movement of the passive dynamic vibration absorber with the added mass part optimally set. Model matching control is used, and in the case of a strong earthquake with a seismic intensity of about 5 or higher, displacement control is performed to control the actuator so that the relative displacement of the additional mass to the installation floor does not exceed a predetermined displacement, or actuator control is stopped and passive movement is performed. A method for controlling a dynamic vibration absorber device for a building, characterized in that it operates as a vibration absorber.