JPH05231035A - Vibration control device - Google Patents

Abstract

PURPOSE:To carry out vibration control adaptable for vibration caused by a wind pressure or an earthquake. CONSTITUTION:A motor 8 in a vibration absorber 3 is driven and controlled in accordance with a drive signal from a control device 4 so as to move an added mass 6 in accordance with a degree of vibration of a building 2 so as to damp the vibration. When the building 2 is excessively displaced, since the added mass 6 is displaced, exceeding the operational range thereof, the motor 8 is decelerated under control so as to stop the added mass 6 in its operational range.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration damping device, and more particularly,
The present invention relates to a vibration damping device having a structure for displacing an additional mass to damp the vibration of a structure.

[0002]

2. Description of the Related Art For example, a structure such as a building is provided with a vibration damping device for damping vibrations caused by an earthquake or wind pressure. In this type of vibration damping device, the vibration generated in the building is damped by operating a dynamic vibration absorber that displaces an additional mass having a predetermined weight mainly depending on the mass of the building according to the vibration state of the building. It is like this.

As a conventional vibration damping device, for example, an additional mass is slidably supported by a linear bearing or the like, and a transmission mechanism such as a ball screw screwed to the additional mass is driven by a motor or the like, so that the additional mass is moved in the horizontal direction. Devices having a dynamic vibration absorber configured to be reciprocally moved have been considered.

Then, the dynamic vibration absorber drives and controls the motor by a drive signal from a control device which calculates a control amount according to the displacement and speed of the building, and moves the additional mass.

[0005]

However, when a large vibration is suddenly input, such as when an earthquake occurs, the additional mass moves rapidly due to a large driving force, but the stroke of the additional mass is limited. A displacement exceeding the movable range of movement may be required by the drive signal from the vibration damping device. In that case, the additional mass is driven until it collides with the stopper, and the limit switch at the stroke end is turned on and stopped. As a result, in the past, not only could the building be vibrated by the impact when the additional mass collides with the stopper, but also the power will be cut off, so even if the building vibration is reduced, the vibration suppression mode will be automatically set. However, there is a problem that the building keeps vibrating for a long time. Further, when an earthquake occurs, the additional mass collides with the stopper, and the impact due to the collision is transmitted to the building, which causes discomfort. Therefore, an object of the present invention is to provide a vibration damping device that solves the above problems.

[0006]

According to a first aspect of the present invention, a drive signal is generated based on detection signals from a sensor for detecting displacement of a structure and a seismometer for detecting seismic waves, and the actuator is driven by the drive signal. In a vibration damping device that drives and moves an additional mass to damp the vibration of the structure, the displacement of the additional mass necessary for damping the displacement of the structure is a movable operation of the additional mass. When it is judged that the additional mass is exceeded, the additional mass stopping means for controlling the actuator so as to stop the additional mass within the operating range is provided.

Further, the additional mass stopping means of the invention of claim 2 is characterized in that the actuator is decelerated so that the additional mass is gradually stopped.

[0008]

When the structure is largely displaced and it is determined that the additional mass needs to move beyond the movable range, the actuator is controlled so that the additional mass stops within the movable range. The additional mass does not collide with the stopper to vibrate the structure, and since the power is not shut off and the vibration suppression mode continues, the vibration suppression operation should be performed when the vibration of the structure becomes small. You can Further, by controlling the deceleration of the actuator, the additional mass is gradually decelerated within the operating range and stopped.

[0009]

1 to 4 show an embodiment of a vibration damping device according to the present invention.

In each of the drawings, the vibration damping device 1 includes a dynamic vibration absorber 3 installed on the roof of a building 2 as a structure and a control device 4.
The vibration is controlled by the control signal from the building 2 to suppress the horizontal vibration of the building 2.

The dynamic vibration reducer 3 is a building 2 as shown in FIGS.
The additional mass 6 slides in the X direction on the base 5 installed on the rooftop of the building 2. The additional mass 6 has a mass of about 0.5% with respect to the total mass of the building 2, for example, 5 It has a weight of about 10 tons. Therefore, the additional mass 6 is slidably supported by the linear bearing 7 on the base 5.

An AC servomotor (hereinafter referred to as a motor) 8 as an actuator and an electromagnetic brake 9 are provided on the base 5, and an output shaft 8a of the motor 8 has a bearing 11 via a coupling 10. It is connected to a ball screw 13 which is supported by 12. The ball screw 13 is screwed into the additional mass 6 and penetrates it. Therefore, the additional mass 6 moves in the recess 5 a of the base 5 by the rotation of the ball screw 13.

When the building 2 vibrates due to wind pressure or an earthquake, the controller 4 outputs a drive signal to the motor 8 of the dynamic vibration reducer 3 by calculating a control amount according to the magnitude of the vibration as described later. The motor 8 supplies the drive signal to the ball screw 1
3 is rotated to move the additional mass 6 in the X direction (vibration direction). At this time, the vibration of the building 2 is damped by the reaction of the generated inertial force of the additional mass 6.

The electromagnetic brake 9 is in the off state in the vibration damping mode, and brakes the ball screw 13 in the non-rotatable state in the stop mode in which the power is turned off.

Building 1, for example, 1st floor, 5th floor, 10th floor, 15
Sensors 15a to 15d that detect displacement and speed due to vibration of the building 2 are installed on a plurality of floors.

An anemometer 16 for measuring the wind speed (V) is installed on the roof of the 15-story building 2, and a sensor 18 for detecting the displacement, speed and acceleration of the additional mass 6 is attached to the dynamic vibration absorber 3. It is provided. The detection signals from the sensors 15a to 15d and the sensor 18 are servo amplifiers 19a to 19e.
Is input to the subtraction circuit 20. The subtraction circuit 20 calculates the actual displacement and velocity of each floor based on the displacement and velocity of the first floor. That is, the subtraction circuit 20 has 5
Vibration of each floor when the displacement and speed detected by the sensor 15a of the first floor is subtracted from the displacement and speed detected by the sensors 15b to 15d of the first floor, the tenth floor, and the fifteenth floor to make the vibration of the first floor zero. Calculate the size of. Also, anemometer 1
The detection signal from 6 is amplified by the amplifier 21 and the control device 4
Entered in.

A seismograph 22 is buried in the ground so as to detect a longitudinal seismic wave (P wave) and a lateral seismic wave (S wave) propagating on the ground. In addition, seismograph 2 at the time of earthquake occurrence
The detection signal from 2 is amplified by the amplifier 23, and the control circuit 4
Entered in.

The control device 4 includes an A / D converter 24 as an input unit, a CPU 25 for calculating a control amount for the dynamic vibration absorber 3,
It has a D / A converter 26 as an output section and an I / O interface circuit 27. A / D converter 24 is a switch 28
Is connected to the subtraction circuit 20 via
The analog signals of the displacement and speed of the building 2 and the additional mass 6 output from the above are converted into digital signals and output to the CPU 25. Further, detection signals from the anemometer 16 and the seismograph 22 are also input to the A / D converter 24, and these detection signals are converted into digital signals and output to the CPU 25.

The CPU 25 calculates the control amount of the dynamic vibration reducer 3 based on each signal from the A / D converter 24 and the I / O interface circuit 27 as described later, and the D / A converter 2
Output to 6. Further, the digital signal of the control amount output from the D / A converter 26 is input to the servo driver 29,
The servo driver 29 outputs a torque command current as a drive signal corresponding to the control amount calculated by the CPU 25 to the motor 8 of the dynamic vibration reducer 3. Reference numeral 30 denotes a memory, which stores each program for damping control which will be described later, and stores initial values of each calculation required for damping control, an earthquake flag, an abnormality flag, and the like.

For example, in the memory 30, as shown in FIG.
Vibration suppression mode setting program 30A executed by PU25,
Gain determination program 30B, gain switching program 3
0C and additional mass stop control program 30D are stored. Here, an outline of each control program will be described.

First, the damping mode setting program 30A
Normally controls the wind pressure damping mode, and when a vertical seismic wave (P wave) is detected due to an earthquake, the seismic damping mode is set before the horizontal seismic wave (S wave) propagates. Switch to perform optimum control. Then, even if the earthquake ends, the seismic vibration suppression mode is continued for a predetermined time and then returned to the wind pressure suppression mode, so that control is performed so as to be able to cope with a series of earthquakes.

Further, the gain judgment program 30B has a function of self-diagnosing whether or not the gain of the dynamic vibration reducer 3 is appropriate, and for example, it is based on the natural period of the primary mode of the building 2 during the vibration damping operation. The maximum value of the vibration state for a period is checked, and when the vibration is excited without being attenuated, it is determined that the gain is abnormal and the dynamic vibration reducer 3 is stopped.

Further, the gain switching program 30C switches the gain of the vibration suppression control according to the displacement or wind pressure of the building 2 and the magnitude of the earthquake. In this embodiment, LQ (Li
The dynamic vibration absorber 3 is controlled by the near quadratic) control, and the gain is calculated in the calculation process of the LQ control.

Further, the additional mass stop control program 30D forming the essential part of the present invention prevents the additional mass 6 of the dynamic vibration absorber 3 from colliding with the stopper of the base 5 when the building 2 is excessively displaced. In addition, the motor 8 is controlled so that the additional mass 6 gently stops within the movable range of the additional mass 6.

That is, in the dynamic vibration reducer 3, the additional mass 6 moves in the X direction in the recess 5a of the base 5 by the rotational driving of the ball screw 13 as shown in FIG. There is. When the building 2 shakes with a large amplitude, the displacement of the additional mass 6 according to the magnitude of the amplitude is calculated to suppress the building 2, but the operating range of the dynamic vibration reducer 3 may be exceeded. is there. In that case, if the damping operation is performed as it is, the additional mass 6 collides with the side wall of the recess 5a of the base 5, so that the CPU 25 decelerates the motor 8 as described later to keep the additional mass 6 within the operating range. Stop.

A power source 31 is connected to the control circuit 4 and the servo driver 29, and an emergency stop switch 32 is provided between the power source 31 and the servo driver 29. The switch 32 normally has contacts, and is opened by being excited by a stop signal from the I / O interface circuit 27 when, for example, an excessive earthquake occurs.

Reference numeral 33 is a high pass filter, which is a sensor 15a.
When the detection signal from is input through the servo amplifier 19a, only the frequency component having a primary natural frequency or higher is output to the I / O interface circuit 27. The CPU 25 causes the I / O interface circuit 27 to output a stop signal to the switch 32 when the signal from the high-pass filter 33 is excessive. As a result, the switch 32 is opened, the power supply to the dynamic vibration reducer 3 is stopped, and the dynamic vibration reducer 3 enters the stop mode. Therefore, it is possible to prevent the additional mass 6 from being rapidly driven to collide with the stopper (side wall of the recess 5a of the base 5) in order to suppress excessive vibration.

Reference numeral 34 designates an indicator, and when there is an abnormality in the control system of the dynamic vibration absorber 3 or each of the sensors 15a to 15d, 18, the anemometer 16, the seismograph 22, etc., the contents of the abnormality are displayed and displayed to the observer. Inform.

Reference numeral 35 is an alarm device, and when an abnormality occurs (alarm)
Emit.

Next, the processing executed by the CPU 25 of the control device 4 when the vibration damping device 1 performs the vibration damping operation will be described with reference to FIG.
It will be described with reference to FIGS.

Further, the CPU 25 repeatedly executes the processing of FIGS. 5 to 7 every 5 msec, for example.

Note that the control device 4 performs initial setting when performing arithmetic processing in advance. As the initial value to be set,
For example, the maximum displacement of the top floor of the building 2 (x ₄ max), the time of the timer that counts the seismic damping mode time after the earthquake (several minutes) te, the response simulation by the white noise (white noise) of the ground displacement of 1 m Absolute value of maximum displacement when vibration is not suppressed (xe unit), Absolute value of maximum displacement when vibration is not suppressed at vibration speed of 1 m / sec (xw unit), time t for 2 cycles of vibration of building 2, additional mass Stroke limit position 6 can move without colliding with stopper, lower limit εp of longitudinal seismic wave (P wave) of earthquake, lateral seismic wave (S wave) of earthquake
, Which are stored in the memory 30.

In FIG. 5, the CPU 25 of the control device 4 checks the abnormality of the vibration damping system in step S1 (steps will be omitted hereinafter). For example, the control system of the dynamic vibration absorber 3 or the sensors 15a to 15d, 18, the seismograph 22, the anemometer 1
If there is no abnormality in 6 etc., if there is no abnormality in S2, move to S3 and seismic wave (P wave,
The detection signal of (S wave) is read.

However, in S2, if there is an abnormality, the process proceeds to S4 shown in FIG. 7, the control amount u is set to zero, and the occurrence of an abnormality is displayed on the display 34. In S36, the control amount u =
0 is output to the D / A converter 26 to stop the motor 8 and stop the vibration damping operation by the dynamic vibration reducer 3. Then, until the abnormal point is repaired and the state returns to the normal state, S1, S2,
S4 and S36 are repeated.

At S5, it is checked whether the earthquake flag = 0. The earthquake flag is set to "0" when there is no normal earthquake (before an earthquake occurs), and is set to "1" when it is determined that an earthquake occurs.

Therefore, when the earthquake flag = 0, the process goes to S6 to check whether the amplitude Ap of the longitudinal seismic wave (P wave) is larger than the lower limit value εp.

When an earthquake occurs, first a vertical seismic wave (P wave) having a high propagation speed propagates to the building 2, and a lateral seismic wave (S wave) propagates with a slight delay. A structure such as the building 2 has sufficient strength for vertical vibration, but in the case of horizontal vibration, there is a resonance phenomenon, so it is necessary to suppress the vibration by the dynamic vibration reducer 3.

The main causes of the building 2 vibrating in the lateral direction are an increase in wind pressure and rolling due to an earthquake. The vibration of the building 2 due to wind pressure vibrates slowly at a low frequency even if the amplitude is the same. On the other hand, the vibration of the building 2 due to the earthquake is abrupt and complicated, but often violently shakes at a higher frequency than in the case of wind pressure.

Therefore, the CPU 25 normally executes the processing of the wind pressure damping mode suitable for the vibration due to the wind pressure shown in FIG. 6, and when the earthquake occurs, it is suitable for the vibration after the S6 shown in FIG. 5 and the vibration due to the earthquake shown in FIG. The seismic damping mode processing is executed.

Here, the processing of the wind pressure damping mode that is normally executed will be described first, and then the processing of the seismic damping mode will be described.

I "Wind Pressure Damping Mode" In step S6, the amplitude Ap of the P wave is the lower limit value ε.
If it is smaller than p, the flow shifts to S7 shown in FIG. 6 to set the earthquake flag to "0" and display "wind pressure damping mode" on the display 34.

Then, at S8, the peak hold timer t for detecting the gain abnormality is incremented by 1,
In S9, it is checked whether or not the time T for two cycles based on the natural cycle of the primary mode of the building 2 has elapsed. It should be noted that the time T for two cycles is previously input to the memory 30, and T =
It is determined by the formula of 2 (2π / ω ₁ ) × F. However, ω ₁ is the natural frequency of the primary mode of the building 2 (0.5 rad / S), and F is the sampling frequency of control (200 Hz).

In S9, when the time T for two cycles has not yet passed, the process proceeds to S13 without executing the processes of S10 to S12 described later, and the sensors 15a to 15a installed on the plurality of floors of the building 2 to The displacement, velocity, and acceleration << X >> (hereinafter, state displacement vector is represented by << X >>) detected by the sensor 18 of 15d and the additional mass 6 are read. Therefore, the displacement, velocity and acceleration << X >> of the building 2 and the additional mass 6 are read and stored in the memory 30 until the time of the timer t reaches the time T of two cycles.

However, in S9, when the time T has elapsed, the process proceeds to S10 and the limit value X ₄ lm of the displacement of the top floor is set.
t is the absolute value of the maximum displacement (Xw
(unit) is updated to the value obtained by multiplying the maximum wind speed wp (S1
0). Subsequently, the maximum displacement | X ₄ max | of the top floor of the building 2 of the two cycles of displacement stored in the memory 30 in S11 is compared with the limit value X ₄ lmt in S10.

In S11, when the value of the maximum displacement X ₄ max is smaller than the limit value X ₄ lmt, the vibration of the building 2 is damped by the vibration damping operation of the dynamic vibration absorber 3, so it is determined that there is no abnormality. In S12, the values of the maximum displacement X ₄ max, the timer t, and the maximum wind speed wp stored in the memory 30 are reset to zero. Then, in S13, the displacements and velocities of the building 2 and the additional mass 6 and the accelerations << X >> detected by the sensors 15a to 15d are read.

However, in S11, the maximum displacement X ₄ ma
If x is larger than the limit value X ₄ lmt, the dynamic vibration absorber 3
Although the building 2 is being vibrated and the vibration is large even though the control gain is being controlled, it is determined that the control gain << F >> (hereinafter, the control gain vector is represented by << F >>) is abnormal. Then, in S14, the abnormality flag = 1 is set and an alarm is issued. Then, the flow shifts to S4 described above, the control amount u is set to zero, and "control gain abnormality" is displayed on the display 34,
Further, in S36, the controlled variable u = 0 is output to stop the dynamic vibration reducer 3.

Returning to FIG. 6, in S15, the displacement X of the top floor is determined.
_FourAbsolute value of | X_FourIs the most recent value stored in memory 30
Large displacement X_FourCheck if it is greater than max. This strange
Rank X _FourAbsolute value of | X_FourIf | is larger, go to S16
Maximum displacement X_Fourmax is the current displacement X_FourAbsolute value of | X_Four
It is updated to | and stored in the memory 30, and the process proceeds to S17. or,
This time displacement X_FourAbsolute value of | X_FourWhen ｜ is smaller
Moves to S17 without updating and is detected by the anemometer 16.
Read the wind speed w.

At the next step S18, the absolute value | w | of the wind speed w detected this time is the maximum wind speed wp stored in the memory 30.
I am checking if it is larger than this, this time the wind speed w
When the absolute value | w | of is larger, the process moves to S19, the maximum wind speed wp is updated to the current value, and the process goes to S20.

If the current wind speed is lower, the control amount u to the dynamic vibration absorber 3 is calculated without updating, and the process proceeds to S20.

At S20, the control gain << F >> of the wind pressure damping mode by the LQ control, which will be described later, is obtained, and the following equation (1) is obtained.

[0051]

[Equation 1]

The control amount u is calculated by Then, the control amount u calculated in the wind pressure damping mode is output in S36.

Therefore, when there is no normal earthquake, S7 to S2
Since the process of 0 is executed and the dynamic vibration absorber 3 is controlled by using the gain corresponding to the displacement caused by a relatively small external force such as wind, that is, the gain << Fw >> when the building 2 does not vibrate, the dynamic vibration absorber 3 is controlled slowly by wind pressure. The additional mass 6 can be moved at a speed suitable for damping the displacement, and good damping can be achieved.

II "Earthquake damping mode" In S6 shown in FIG. 5, the seismic wave is propagated by the occurrence of the earthquake, and the longitudinal seismic wave (P
When the wave) becomes equal to or higher than the lower limit value εp, the seismic damping mode is set. That is, in S6, when the P wave has the amplitude Ap> εp, the process proceeds to S21 and the earthquake flag is set to "1" to enter the seismic damping mode.

In the following processing from S22 to S30, the gain abnormality determination is performed similarly to S8 to S16 of the wind pressure damping mode described above, and the displacement for two cycles based on the natural cycle of the primary mode of the top floor of the building 2 is performed. Check and check maximum value X
_{If 4} max is smaller than the limit value X ₄ lmt due to the earthquake, normal vibration suppression control is performed, and conversely, when the maximum displacement X ₄ max this time is larger than the limit value X ₄ lmt, it means that the gain is abnormal. judge.

At S31, it is checked whether the amplitude of the lateral seismic wave (S wave) detected by the seismograph 22 is smaller than the lower limit value εs. Therefore, when an earthquake (S wave) from the epicenter is detected by the seismograph 22 in S31 and the amplitude As of the S wave is larger than the lower limit value εs, the process proceeds to S32 and the seismic vibration suppression mode timer te is reset to zero, S
In 33 to S36, the control amount u according to the magnitude of the displacement of the building 2
Is calculated and the additional mass 6 is moved.

However, in S31, a vertical seismic wave (P wave) is detected, or a horizontal seismic wave (S wave) is still detected.
If is not detected, the process proceeds to S37, where the timer te is incremented, and it is checked in S38 whether the count time of the timer te has reached the standby time Te (about several minutes) preset in the memory 30. And still waiting time T
If e has not been reached (te <Te), the process proceeds to S33. Therefore, the standby state of the seismic damping mode is maintained until the vertical seismic wave (P wave) is detected in S6 and the horizontal seismic wave (S wave) is detected.

As described above, the seismic wave is propagated by the P wave first and the S wave after a slight delay. When a seismic wave (S wave) larger than the lower limit εs is detected while waiting in the seismic damping mode as described above, the timer te is reset to zero in S32 as described above.

Subsequently, the amplitude As of the S wave is determined by the memory 30.
It is checked whether it is larger than the maximum amplitude ep stored in (S33). If the current amplitude As is larger, the maximum amplitude ep is updated to the current amplitude in S34 and stored in the memory 30, and the process proceeds to S35.

When the amplitude of the S wave this time is smaller, the control amount u to the dynamic vibration absorber 3 is calculated without updating and the process proceeds to S35.

In S35, the control gain << F >> of the seismic damping mode by LQ control, which will be described later, is obtained, and the following equation (2) is obtained.

[0062]

[Equation 2]

The control amount u is calculated by the following. Then, the control amount u calculated in the seismic damping mode is output in S36. In the next process, since the earthquake flag = 1 is set in S21, the process directly moves from S5 to S22, and S6 and S21 are omitted.

Therefore, when the seismic wave (S wave) propagates, the processing of S21 to S40 is executed, and the gain corresponding to the abrupt displacement due to the earthquake, that is, the gain << Fe >> when the building 2 vibrates at a high frequency is set. Since the dynamic vibration reducer 3 is controlled by using the vibration absorber 3, the additional mass 6 can be moved at a speed suitable for suppressing abrupt vibration due to a lateral earthquake to effectively suppress the vibration. Therefore, even if a sudden displacement is detected when an earthquake occurs, the additional mass 6
Is not driven until it collides with the stopper of the base 5, the limit switch is turned on and the vibration cannot be suppressed as in the conventional case, and the impact to the stopper is not transmitted to the building 2. It is like this.

The seismic wave (S wave) stops and the lower limit value ε
When it becomes equal to or less than p, the seismic vibration suppression mode is continued until the wind pressure vibration suppression mode is switched to immediately, the process moves from S31 to S37, the timer te is incremented and the waiting time Te elapses (S38). Therefore, even if the aftershock or a series of earthquakes in which the seismic wave propagates again even if the earthquake stops, the seismic damping mode is maintained for the predetermined time Te after the earthquake stops, so The building 2 can be satisfactorily damped even against a sudden input change caused by the third earthquake.

Then, in S38, when the earthquake does not occur even after the preset waiting time Te has elapsed, S
In 39, the earthquake flag is set to "0" and the maximum amplitude ep is reset to zero in S40. Then, the above-mentioned S35, S
The process of 36 is performed. Further, in S40-1, the timer te
To clear.

Therefore, in the next process, when the amplitude of the P wave is smaller than the lower limit value εp in S6, the wind pressure damping mode is restored again.

As described above, even if the earthquake stops during the seismic damping mode, the seismic damping mode is continued for the time Te without switching to the wind pressure damping mode immediately. The dynamic vibration reducer 3 can be controlled by the gain << Fe >> according to the abrupt displacement due to.

Here, a calculation method for calculating the control amount u in S20 and S35 will be described.

First, the determination of the wind pressure control mode gain << Fw >> and the seismic vibration suppression mode gain << Fe >> will be described. When obtaining the gains << Fw >> and << Fe >>, FIG.
Consider a dynamic model of the N-story building 2 and the dynamic vibration absorber 3 as shown in FIG. In FIG. 8, m is a mass, K is a spring element, C
Is a damping element. Then, an optimum regulator for the dynamic model of FIG. 8 is designed and applied to the vibration damping device 1.

That is, the evaluation function J is obtained by a method called LQ (Linear Quadratic) control, and the gains Fw and Fe of the control system are determined so that the evaluation function J is minimized.

The dynamic model is composed of mass points of mass msi and damping elements of spring damping constant csi of rigidity ksi from the first floor to the Nth floor. Further, the dynamic vibration reducer 3 is represented by the additional mass ma and the control amount u. Also, the absolute displacement of each floor is ysi, and the displacement of the dynamic vibration absorber 3 is y
Let a. Here, the ground floor yso and the relative displacement xsi of each floor
Is expressed as xsi = ysi−yso (3), and the added mass 6 of the top floor (m _SN ) and the dynamic vibration absorber 3
The relative displacement xa with respect to (ma) is expressed as xa = ya−y _SN (4).

State displacement vector << X >>

[0074]

[Equation 3]

Is expressed as

[0076]

[Equation 4]

The mass matrix M, the stiffness matrix K, and the damping matrix C are

[0078]

[Equation 5]

It can be expressed as Here, in order to suppress the displacement of the building 2, the following evaluation function J
To set.

[0080]

[Equation 6]

However, << X >> is the state quantity of each mass point (<< X >> ^T
<< X >> is proportional to the area), Q is a weight for the feedback amount, and R is a constraint regarding the dynamic vibration reducer u. Therefore, R
When is small, the acceleration of the additional mass 6 is large, and when R is large, the acceleration of the additional mass 6 is small.

Here,

[0083]

[Equation 7]

It is

[0085] Therefore, the gain "Fw" and "Fe" is, "F" = represented by ^{R -1 B T P ... (14} ), P is determined as a solution of Riccati (Riccati) Equation (15).

[0086] ^{A T P + PA + Q-} PBR -1 B T P = 0 ... (15) The weight Q, in R, the gain "Fw", displacement factor of the dynamic vibration reducer 3 corresponding to "Fe" qa, additional mass 6 The acceleration coefficient R of qw and rw for wind pressure and q for earthquake
If e and re, the external force due to the earthquake is several times larger than the wind pressure, so set qw << qe, rw << re and obtain the gain F by the above procedure.

The control amount u is calculated based on the gain F thus obtained, and is output to the motor 8 of the dynamic vibration reducer 3. Therefore, the additional mass 6 moves in the damping direction by being controlled by the control amount u by the gain << Fw >> in the wind pressure damping mode, and performs the damping operation by the control amount u by the gain << Fe >> in the earthquake damping mode. To be driven.

Here, the additional mass stop control executed in S20 and S35 will be described with reference to FIG.

In FIG. 9, the CPU 25 checks in S51 whether the displacement of the building 2 is excessive. That is, the displacement of the building 2 due to the displacement of the ground detected by the seismograph 22, the displacement of the building 2 detected by the sensors 15a to 15d provided in the building 2, or the displacement required for the damping operation of the additional mass 6. Check if is too large.

When the displacement of the building 2 is smaller than the threshold value set in the memory 30 in advance, the process proceeds to S52, and the control amount u to the dynamic vibration reducer 3 is calculated by the normal LQ control described above.

Here, a specific example of determining whether or not the displacement of the building 2 in S51 is excessive will be described.

If the maximum torque that can be output by the motor 8 of the dynamic vibration reducer 3 is T _max and the moment of inertia of the additional mass is I _a , the maximum angular acceleration of the weight is

[0093]

[Equation 8]

[0094] When the dynamic vibration absorber 3 is configured to operate the additional mass 6 in the ball screw 13, as shown in FIG. 2, when the pitch of the ball screw 13, r _a, the maximum acceleration a _{ma x} of the added mass 6 following It can be calculated by the formula

[0095]

[Equation 9]

When the additional mass 6 is operating at the maximum speed V _max , and the braking distance required to stop it is x, the braking distance x is obtained by the following equation.

X = V _max t−0.5a _max t ² (18) (where, t = V _max / a _max ) ± with reference to the origin position of the center of the operating range of the additional mass 6 of the dynamic vibration reducer 3. Let l be the displacement limit, and the displacement x of the additional mass 6 of the dynamic vibration absorber 3 that is input as lx
compared with _a, it is determined that the displacement excessive if the xlmt <x _a.

As a method other than the above method, the displacement x _n of the top floor of the building 2 and the dynamic vibration absorber 3 are previously simulated by simulation.
, The displacement x _a of the additional mass 6 is obtained in advance, and controllable x _n lmt is determined within the operating range of the dynamic vibration reducer 3.
If x _n lmt <x _a , it is judged that the displacement is excessive.

As described above, the limit position is determined by the displacement x _n of the top floor of the building 2. Normally, when the structure is excited by the natural frequency of the first mode, the displacement x of the top floor of the structure is determined. _{This is because n} becomes the largest.

On the other hand, when the input disturbance value is excessive, the following judgment is made.

When the input disturbance is wind, the displacement of the building 2 is used as a criterion for determination.

When the input is an earthquake, the input from the seismograph 22 is used as a criterion for judgment. In this case, a simulation is performed in advance on the case where random noise (white noise) is input from the ground. When there is an earthquake input having a magnitude exceeding the controllable range within the operating range, the additional mass 6 of the dynamic vibration absorber 3 is stopped.

However, if the displacement of the building 2 is excessive in S51, the process shifts to S53 to check whether the stop mode is set. In the case of the first calculation, since the stop mode has not been set yet, the process moves to S54 and the stop mode is set.

Subsequently, in S55, the sampling frequency counter is reset to zero and the counter is started.

In the next S56, the displacement, velocity and acceleration of the additional mass 6 at that time are set. The acceleration has a negative value, and the additional mass 6 is decelerated. or,
When the additional mass 6 is driven by the ball screw 13, the maximum acceleration of the additional mass 6

[0106]

[Equation 10]

Is calculated from the maximum torque T _max as described above.

Then, in S57, the count value of the sampling number counter is incremented by one. Then S
At 58, the displacement position of the additional mass 6 at the next sampling is estimated.

In step S59, the difference between the position estimated in step S58 and the current position is calculated and multiplied by the proportional gain (kp) to calculate the control amount u. Then, the count value of the displacement position control counter is increased by the displacement corresponding to the control amount u (S60).

Then, in S36 shown in FIG. 7, the control amount u is output to the dynamic vibration reducer 3 to control the deceleration of the motor 8 so as to decelerate the additional mass 6.

Further, when the control amount u is calculated next time, the stop mode is set. Therefore, in S53, the process proceeds to S61, and it is checked whether or not the speed of the additional mass 6 is zero, that is, it is stopped. If the additional mass 6 is still moving, it is necessary to further control the deceleration of the motor 8, so S5
Then, the processing in S57 to S60 is repeated.

When the additional mass 6 stops, S
Then, the control is stopped from 61 to S62, and the control amount u is set to zero (S63).

As described above, when the displacement of the building 2 is excessive and the additional mass 6 has to move beyond the operating range in order to suppress it, a negative acceleration is set to gradually increase the additional mass 6. It can be decelerated and stopped within the operating range. Therefore, even if an excessive displacement is input to the building 2, the additional mass 6 can be prevented from colliding with the stopper.
Vibration is prevented and the damping mode is continued, the dynamic vibration absorber 3 can immediately perform the damping operation when the vibration becomes small, and the vibration of the building 2 can be suppressed in a short time. .. Moreover, since the additional mass 3 stops slowly, the shock at the time of stop is prevented from being transmitted to the building 2.

FIG. 10 shows the processing of the second embodiment of the control amount calculation and deceleration control.

In S71 of FIG. 10, it is first checked whether the stop mode is set. When the stop mode is not set, the process proceeds to S72 and the control amount u is calculated by the above-mentioned normal LQ control.

[0116] Then, the maximum control amount u _{ma x} (control amount of the maximum displacement dynamic vibration absorber 3 can damping) time greater than the additional mass 6 is the operating range of the control variable u is set in advance in the memory 30 in S73 Since it exceeds the limit, the process proceeds to S74 and the stop mode is set.

Since the processing of S74 to S80 shown in FIG. 10 is the same as the processing of deceleration control of S54 to S60 in FIG. 9, the description thereof will be omitted.

However, when the control amount u calculated in S72 is smaller than the maximum control amount u _max in S73, the control amount u is output as it is.

If the stop mode is set in S71, the process proceeds to S81 to check whether the speed of the additional mass 6 has become zero, and if it is still moving, S
77, the deceleration control of S77 to S80 is executed.

When the speed of the additional mass 6 becomes zero and stops within the operating range, the flow shifts to S82 to center the control and set the control amount u to zero and output it to the dynamic vibration reducer 3.

In this case, the control amount u to the dynamic vibration absorber 3 is u
_{Since the} deceleration control is performed when it is larger than _max , more accurate control becomes possible.

FIG. 11 shows the processing of the third embodiment of the control amount calculation and deceleration control.

In FIG. 11, the displacement of the additional mass 6 is first input in S91, and it is checked in S92 whether the displacement of the additional mass 6 is excessive. That is, in S92, the added mass is 6
Check whether or not it exceeds the operation range set in the memory 30 in advance, and in the case of excessive displacement S93-
The deceleration control process shown in S100 is executed. Incidentally, S93
The processes of S100 to S100 are the same as S53 to S60 of FIG.

When the displacement of the additional mass 6 is not excessive at S92, the routine proceeds to S104, where the normal LQ control is performed to calculate and output the control amount u to the dynamic vibration absorber 3.

Next, the return control for returning the additional mass 6 to the origin set at the center of the operating range will be described with reference to FIG.

In FIG. 12, when the displacement of each floor of the building 2 is input from each of the sensors 15a to 15d in S111, S11 is entered.
2, the magnitude of the displacement x _n of the uppermost floor among the detection signals from the sensors 15a to 15d is compared with the limit value x _n lmt preset in the memory 30.

Then, the displacement x _{n of} the top floor is the limit value x
_If it is smaller than _n lmt, the vibration damping operation is still in progress, so the count value of the sampling number counter is incremented by 1 (S113). In the next S114, it is checked whether the count value of the counter is 100 or more,
When it is 100 or less, the process returns to S111 and the processes of S111 to S114 are repeated.

This is the time until the vibration of the building 2 is attenuated and returns to the stationary state, and the count value is not limited to 100 and may be set to be slightly longer than the damping time of the building 2.

If the building 2 shakes significantly again in S112 due to an earthquake or wind pressure, the counter is reset to zero and the processes of S111 to S114 are repeated.

Then, when the value of the counter reaches 100 in S114, it is determined that the building 2 is stationary, and the additional mass 6 is returned to the origin of the center of the operating range (S11).
5).

In the next S116, it is checked whether or not the additional mass 6 has returned to the origin, and when the additional mass 6 reaches the origin, the routine proceeds to S117 and the normal vibration suppression control (processing shown in FIGS. 5 to 7). To execute.

Therefore, before the building 2 starts to vibrate, the additional mass 6 always returns to the center of the operating range, so that the dynamic vibration reducer 3 immediately performs the vibration damping operation regardless of which external force is input in the X direction. It can be carried out.

In the above embodiment, the vibration damping device for damping the building 2 is given as an example, but the invention is not limited to this, and the dynamic vibration reducer 3 is not limited to the building (for example, a bridge, a tower, an elevated building). Of course, it can also be applied to objects, stadiums, etc.).

Further, in the above embodiment, when it is determined that the additional mass moves beyond the operating range, for example, the control amount of the actuator may be set to zero to stop the additional mass. That is, the supply of power to the motor that drives the additional mass may be switched to reversely rotate the rotor side to stop the additional mass.

[0135]

As described above, the damping device according to the present invention is
When it is determined that the structure is largely displaced and the additional mass moves beyond the movable operating range, the actuator can be controlled to stop the additional mass within the operating range. Therefore, it is possible to prevent the additional mass from colliding with the stopper and vibrate the structure.In addition, since the vibration suppression mode is continued without shutting off the power, the vibration of the structure becomes small at the time. You can immediately perform the vibration damping operation,
Vibration can be suppressed in a short time. Further, by controlling the deceleration of the actuator, the additional mass can be gradually decelerated and stopped, and a shock at the time of stopping can be eliminated.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a vibration damping device according to the present invention.

FIG. 2 is a front view of a dynamic vibration reducer.

FIG. 3 is a vertical sectional view of a dynamic vibration reducer.

FIG. 4 is a diagram showing items stored in a memory.

FIG. 5 is a flowchart for explaining a process executed by the CPU of the vibration damping device.

FIG. 6 is a flowchart for explaining processing in a wind pressure damping mode that is executed subsequent to the processing in FIG.

FIG. 7 is a flow chart for explaining a process of seismic damping mode that is executed subsequent to the process of FIG.

FIG. 8 is a diagram showing a vibration model of a building and a dynamic vibration reducer.

FIG. 9 is a flowchart of a first embodiment of deceleration control.

FIG. 10 is a flowchart of a second embodiment of deceleration control.

FIG. 11 is a flowchart of a third embodiment of deceleration control.

FIG. 12 is a flowchart of origin return control.

[Explanation of symbols]

 1 Vibration Control Device 2 Building 3 Dynamic Vibration Absorber 4 Control Device 6 Additional Mass 8 AC Servo Motor 15a to 15d, 18 Sensor 16 Anemometer 22 Seismometer 25 CPU 33 High-pass Filter

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsuru Kageyama 4-640 Shimoseido, Kiyose-shi, Tokyo Inside Obayashi Institute of Technology Co., Ltd. (72) Inventor Tatsuya Gankai 1-3-6 Fujimi, Kawasaki-ku, Kawasaki-shi, Kanagawa In Tokiko Co., Ltd. (72) Inventor, Keiko Matsuoka 1-3-6 Fujimi, Kawasaki-ku, Kawasaki-shi, Kanagawa Tokiko Co., Ltd.

Claims (2)

[Claims] 1. A structure in which a drive signal is generated based on a detection signal from a sensor that detects a displacement of a structure and a seismometer that detects a seismic wave, and the actuator is driven by the drive signal to move an additional mass, In a vibration damping device for damping the vibration of an object, when the displacement of the additional mass necessary for damping the displacement of the structure exceeds the movable operation range of the additional mass, the addition A vibration damping device comprising additional mass stopping means for controlling the actuator so that the mass stops within the operating range. 2. The vibration damping device according to claim 1, wherein the additional mass stopping means controls the deceleration of the actuator so that the additional mass is gradually stopped.