JPH05231037A - Vibration control device - Google Patents

Abstract

PURPOSE:To determine whether the control gain is appropriate or not. CONSTITUTION:A memory 30 stores therein a detection signal from a sensor 15d corresponding to a displacement of a building 2 during no vibration control. A CPU 25 compares a detection signal from the sensor 15d upon vibration damping by an added mass 6 which is driven by an a.c. servo motor 8, with the detection signal stored in the memory 30, and determines that the control gain is inappropriate when the displacement upon vibration control is larger.

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]

In the conventional vibration damping device,
The gain of the vibration suppression control system according to the structure of the building was determined by the simulation of the vibration model by the computer, and the gain was set to the vibration suppression device when installing on the roof of the building.

However, when the building actually vibrates due to an earthquake or wind pressure, the gain of the control system may not be an appropriate value for the displacement of the building when the vibration damping device performs the vibration damping operation. In that case, the displacement amount and speed of the additional mass are too small or too large, and a good vibration damping effect cannot be obtained.

However, conventionally, when the control gain of the vibration damping device or the natural frequency of the building does not match the simulation of the computer, the additional mass of the vibration damping device is actually moved to vibrate the building and then the vibration damping is performed. I had to make it, and I had to decide the gain that matched the structure of the building. Therefore, conventionally, there is a problem that not only the occupant feels uncomfortable when vibrating the building, but also an unreasonable vibrating force may be applied to the building.

Furthermore, after several years have passed since the building was constructed, play or displacement occurs in the joints of steel frames and concrete, so that the control gain of the vibration damping device becomes incompatible even if the natural frequency of the building itself changes over time. The above-mentioned problem occurs. Therefore, an object of the present invention is to provide a vibration damping device that solves the above problems.

[0009]

According to the present invention, a drive signal is generated based on a detection signal from a sensor for detecting the displacement of a structure, and the actuator is driven by the drive signal to move an additional mass. In a vibration damping device for damping the vibration of a structure, a storage unit that stores a detection signal from the sensor according to the displacement of the structure when no vibration is suppressed, the detection signal stored in the storage unit, and the storage unit Gain determining means for comparing the detection signal from the sensor during the vibration damping operation by the additional mass driven by the actuator to determine whether or not the gain of the control system during the vibration damping operation is appropriate. And

[0010]

[Function] Memorizing the displacement of the structure without vibration control,
By comparing the displacement of the structure when vibration is suppressed and the displacement of the structure when it is not damped, if the structure is damped, the displacement at vibration suppression will be small and the gain of the control system will be appropriate. On the contrary, when the structure is vibrated during damping, it is determined that the displacement during damping becomes large and the gain is abnormal.

[0011]

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 is generally 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.

Further, 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 and a bearing 11, 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 control device 4 calculates a control amount according to the magnitude of the vibration and outputs a drive signal to the motor 8 of the dynamic vibration absorber 3 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 installed on 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 vertical 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 30 executed by the CPU 25
A, gain abnormality determination program (abnormality determination means) 30
B, a gain switching program 30C, and an 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 forming the essential part of the present invention has a function of self-diagnosing whether the gain of the dynamic vibration reducer 3 is proper, and for example, the building 2 of the building 2 during vibration damping operation. When the maximum value of two cycles is checked and the vibration is excited without being attenuated, it is determined that the gain is abnormal and the dynamic vibration reducer 3 is stopped.

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
Means that the additional mass 6 is gently stopped within the movable range of the additional mass 6 so that the additional mass 6 of the dynamic vibration absorber 3 does not collide with the stopper of the base 5 when the building 2 is excessively displaced. Thus, the deceleration control of the motor 8 is performed.

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 current 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 is 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 process 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 is initialized in advance when performing arithmetic processing. 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 without vibration (xe unit), absolute value of maximum displacement without vibration with wind speed of 1 m / sec (xw unit), time for two cycles of vibration of building 2 (Te), There is a stroke limit position where the additional mass 6 can move without colliding with the stopper, a lower limit value εp of the seismic wave (P wave) in the longitudinal direction of the earthquake, a lower limit value εs of the seismic wave (S wave) in the lateral direction of the earthquake, etc., respectively. It is stored in the memory 30.

In FIG. 5, the CPU 25 of the control device 4 performs an abnormality check of the vibration damping system in step S1 (the following steps will be omitted). 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, if there is an abnormality in S2, the process proceeds to S4 shown in FIG. 7, the control amount u is set to zero, and an abnormality is displayed on the display 34, and 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, and it is checked 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 for the building 2 to vibrate 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 vibrations after S6 shown in FIG. 5 and the vibration caused by 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 earthquake 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, in 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 elapsed, the process proceeds to S13 without executing the processes of S10 to S12, which will be 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 building 2 stored in the memory 30 in S11
The maximum displacement | X ₄ max | of the uppermost floor of is compared with the limit value X ₄ lmt of S10 (gain determination means).

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, and 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.

As described above, when the maximum displacement X ₄ max of the building 2 is larger than the limit value X ₄ lmt when the vibration is suppressed, the maximum displacement X ₄ max of the building 2 is larger than this limit value.
Since it is possible to self-diagnose that the gain of the control system is not appropriate, it is safer because the worker does not have to check the movement of the dynamic vibration reducer 3. If the gain is inappropriate, the vibration damping operation is stopped and the building 2 The above vibration can be prevented.

In the case where the gain 2 is stopped due to inappropriate gain as described above, it is possible to self-diagnose that there is no abnormality in S11 by gradually changing the gain of the control system to perform the vibration damping operation. It is intended to improve the safety of the building by preventing this. Moreover, even if the natural frequency of the building 2 changes due to play or displacement of the steel frame, concrete, etc. due to aging and the damping effect cannot be obtained, the gain abnormality can be determined in S11.

Here, the above gain abnormality determination will be described with reference to experimental data. Fig. 8 shows building 2 at a wind speed of 1 m / s
The waveform diagram as an example of the displacement Xsn of the uppermost floor (msn) of FIG. According to the experimental result of FIG. 8, when the building 2 is continuously input for a certain time, the amplitude of the building 2 is ± 0.24 m at the frequency of 0.6 Hz.
It turned out that the top floor of the building continued to vibrate.

FIG. 9 is a waveform diagram of the displacement of the uppermost floor during the damping operation by the damping device 1. When the maximum value of vibration for two cycles is P ₀ , the maximum amplitude X ₄ max at the wind speed of 0.8 m / s should be 0.24 × 0.8 = 0.192 m or less.

In FIG. 7, the maximum value P ₀ is -0.12 m.
Since 0.192> | Pa |, it is determined in S11 that the gain of the control system is an appropriate value.

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 >> in the wind pressure damping mode by the LQ control, which will be described later, is obtained, and the following equation (1) is obtained.

[0057]

[Equation 1]

The control amount u is calculated by the following. 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 next processing of 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 of 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 damping control is performed. Conversely, if the maximum displacement X ₄ max this time is larger than the limit value X ₄ lmt, the gain is inappropriate. To determine.

Therefore, if there is a gain abnormality even in the seismic damping mode, it is possible to determine in S25 whether or not the gain is appropriate. In this case as well, the same effect as described in the wind pressure damping mode can be obtained. ..

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 P wave of the seismic wave propagates first, and the S wave propagates with 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 for the dynamic vibration absorber 3 is calculated without updating and the process proceeds to S35.

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

[0069]

[Equation 2]

The control amount u is calculated by 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, if the earthquake does not occur even after the preset waiting time Te has passed, 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. In addition, to clear the timer te in S40 _-1.

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

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

Here, the 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 >>

[0081]

[Equation 3]

Then, (however,

[0083]

[Equation 4]

Is the displacement, velocity and acceleration of the additional mass 6, respectively, and X _{S1 to} X _sN are the displacements of the building 2,

[0085]

[Equation 5]

Is the speed of building 2. ) The equation of state of this system is

[0087]

[Equation 6]

Is expressed as

[0089]

[Equation 7]

However, I is a unit matrix and O is a zero matrix.

[0091]

[Equation 8]

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

[0093]

[Equation 9]

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

[0095]

[Equation 10]

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,
When R 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,

[0098]

[Equation 11]

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

[0100] ^{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 obtained in this way, 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.

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 absorber 3 is not limited to the structure (for example, a bridge, a tower, an elevated building). Of course, it can also be applied to objects, stadiums, etc.).

[0103]

As described above, the damping device according to the present invention is
If the displacement of the structure during vibration control is greater than this reference value based on the displacement of the structure during non-vibration, self-diagnosis can be made that the gain of the control system is inadequate. It is safer than checking the movement of mass. Even if the gain of the vibration damping device is not an appropriate value for the displacement of the structure, the vibration damping operation is immediately stopped and the structure is further excited. Can be prevented.

Therefore, after it is determined that the gain is inappropriate, the gain of the control system is gradually changed, and when it becomes an appropriate value, it can be self-diagnosed that there is no gain abnormality. Therefore, it is necessary to force the structure to vibrate. It can be prevented and safety is improved.
Even if the natural frequency of the structure changes due to aging and the damping effect cannot be obtained, abnormal gain is judged at that time, and the displacement amount and speed of the added mass are small with respect to the vibration of the structure. It has the feature that it can be prevented from being too large or too large.

[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 waveform diagram showing the maximum amplitude of a building without vibration damping.

FIG. 9 is a waveform diagram showing the maximum amplitude of a building when vibration is not damped.

FIG. 10 is a diagram showing a vibration model of a building and a dynamic vibration reducer.

[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 front page (72) Inventor Mitsuru Kageyama 4-640 Shimoseido, Kiyose-shi, Tokyo Inside Obayashi Institute of Technology Ltd. (72) Inventor Keiko Matsuoka 1-3-6 Fujimi, Kawasaki-ku, Kanagawa Prefecture Tokiko Within the corporation

Claims (1)

[Claims] 1. A drive signal is generated based on a detection signal from a sensor that detects a displacement of a structure, and an actuator is driven by the drive signal to move an additional mass to suppress vibration of the structure. In the vibration damping device, storage means for storing a detection signal from the sensor according to the displacement of the structure without vibration damping, the detection signal stored in the storage means and the additional mass driven by the actuator A vibration damping device, comprising: a gain determining unit that compares the detection signal from the sensor during the vibration damping operation according to to determine whether the gain of the control system is appropriate during the vibration damping operation.