JPH05231040A - Vibration control device - Google Patents

Abstract

PURPOSE:To provide a vibration control device which may automatically computes a constant relating the structure of a building. CONSTITUTION:A displacement, a velocity and an acceleration which are detected by sensors 15a to 15d arranged in a building 2 and a sensor 18 arranged on an added mass 6 are stored in a predetermined period memory device 40 at predetermined intervals by means of a CPU 25. A personal computer 41 computes the inherent frequency of the building 2 from data stored in the memory 40, and updates an original inherent frequency if thus computed inherent frequency differs from the original one. Further, the control gain used for calculating a control value is updated in accordance with thus updated inherent frequency.

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. In the above calculation, the rigidity of the building is used as one of the initial values, and if the rigidity of the building may change due to deterioration of concrete or reinforcing bars that make up the building due to changes over time, this will cause an error in the calculation. However, the accuracy of the vibration damping operation was sometimes reduced.

In order to prevent such a harmful effect, the natural frequency of the building is measured every time a predetermined period elapses, and the rigidity of the building is calculated based on the measured natural frequency, and this is the previous measured value. If it is different from, it is necessary to update the rigidity value of the building that is the basis of the control calculation with the newly calculated value.

[0006]

However, in the past, a separate measuring device was prepared to measure the natural frequency of a building,
It was necessary to vibrate the building and measure. It is dangerous to vibrate the building in this way, and it requires a considerable number of man-hours such as separately preparing a measuring device. The present invention has been made in view of the above problems, and an object thereof is to provide a vibration damping device that can automatically measure the natural frequency of a building.

[0007]

The invention according to claim 1 is
A drive signal is generated based on a detection signal from a sensor that detects displacement of a structure and a seismograph that detects seismic waves, and the actuator is driven by the drive signal to move an additional mass to suppress vibration of the structure. In a vibration damping device that vibrates, at least one data of each data of displacement, velocity and acceleration of at least one of the structure and additional mass output from the sensor or the seismograph, and external force acting on the structure It is characterized by having a storage means for storing.

According to a second aspect of the present invention, at least one of data of displacement, velocity and acceleration of at least one of the structure and the additional mass, and external force acting on the structure at a predetermined time interval. Is stored in the storage means.

According to a third aspect of the present invention, the storage means is
When an earthquake occurs, displacement of at least one of the structure and the additional mass output from the sensor or seismometer,
It is characterized in that at least one data of each data of velocity and acceleration and external force acting on the structure is stored.

According to a fourth aspect of the present invention, a drive signal is generated based on detection signals from a sensor that detects displacement of a structure and a seismometer that detects seismic waves, and the actuator is driven by the drive signal to drive the additional mass. In the vibration damping device for damping the vibration of the structure by moving the, the displacement of the structure output from the sensor or the seismograph, the speed and acceleration, and each of the external force acting on the structure It is characterized by having a structure constant calculation means for calculating a constant relating to the structure of the structure from at least one data.

According to a fifth aspect of the present invention, at least one of each data of the displacement, velocity and acceleration of the structure and the external force acting on the structure stored by the storage unit or the storage unit at the time of earthquake occurrence. It is characterized by having a structure constant calculating means for calculating a constant relating to the structure of the structure from the data.

According to a sixth aspect of the present invention, a control system constant for updating the constant of the control system for generating the drive signal according to the change in the constant related to the structure of the structure obtained by the structure constant calculating means. It is characterized by having an updating means.

According to a seventh aspect of the present invention, the constant relating to the structure of the structure is at least one of the constants of the natural frequency and the rigidity of the structure.

[0014]

According to the first, second and third aspects of the present invention, at least one of data of displacement, velocity and acceleration of at least one of the structure and the additional mass, and external force acting on the structure. Since the above data is stored, each of the above data can be obtained without using a separate measuring device or vibrating the structure.

According to the fourth and fifth aspects of the present invention, a constant relating to the structure of the structure is calculated from at least one data of the displacement, velocity and acceleration of the structure and external force acting on the structure. Since the structural constant calculation means is provided, changes over time in the constants relating to the structure such as natural frequency and rigidity due to deterioration of concrete, rebar, etc. constituting the structure are automatically calculated.

According to the sixth aspect of the present invention, since the control system constant updating means for updating the constants of the control system such as the control gain according to the change with time of the constants relating to the structure is provided, the concrete and the reinforcing bar constituting the structure are provided. The drive signal is generated by the constants of the control system such as the control gain corresponding to the change with time of the constants related to the structure such as the natural frequency and the rigidity due to the deterioration of the above.

[0017]

1 to 3 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 in general.
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 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 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 according 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 also stores initial values of respective calculations necessary for damping control, an earthquake flag, an abnormality flag, and the like.

Reference numeral 40 denotes a storage device (a magnetic disk device in the case of the present embodiment), which stores the vibration data of the building 2 used for the calculation of updating the natural frequency of the building 2 which is the gist of the present invention.

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.

The gain determination program 30B has a function of self-diagnosing whether or not the gain of the dynamic vibration reducer 3 is appropriate. For example, 2 based on the natural period of the primary mode of the building 2 during 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
(nearQuadratic, linear quadratic) The dynamic vibration reducer 3 is damped by the 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. The motor 8 is controlled so that

Reference numeral 41 is a personal computer as a frequency analyzer for calculating the update of the natural frequency.

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 the input is input via the servo amplifier 19a, only the frequency component of the natural frequency of the primary mode is I / O.
Output to the interface circuit 27. When the signal from the high pass filter 33 is excessive, the CPU 25 causes the I / O interface circuit 27 to output a stop signal to the switch 32. As a result, the switch 32 is opened and the dynamic vibration reducer 3
The power supply to the motor is stopped, and the dynamic vibration reducer 3 enters the stop mode. Therefore, in order to suppress the excessive vibration, the additional mass 6
Is abruptly driven and is prevented from colliding with the stopper (side wall of the recess 5a of the base 5).

Reference numeral 34 is a display device, 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 details 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 FIGS. 5 and 8 to 10.

Further, the CPU 25 repeatedly executes the processing of FIGS. 5 and 8 to 10 every 5 msec (sampling period), for example.

In the control device 4, initial settings for performing arithmetic processing are performed 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 without vibration (xe unit), absolute value of maximum displacement without vibration with wind speed of 1 m / sec (xw unit), 2 cycles based on natural period of primary mode of building 2 Time t, additional mass 6
Has a stroke limit position where it 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 in the memory 30. Remembered.

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
6 is checked for abnormality, and if there is no abnormality in S2, the displacements and speeds detected by the sensors 15a to 15d and the sensor 18 of the additional mass 6 installed on the plural floors of the building 2 in S2, Acceleration << X >> (hereinafter, state displacement vector is referred to as << X >>) is read. Since an earthquake does not always occur here, the above data << X >> is mainly data due to vibration of the building 2 due to wind pressure. In addition, S
The operation from 2 to S10 is the natural frequency verification mode, which is the gist of the present invention and is performed prior to the damping operation.

In S2, if there is an abnormality, the process proceeds to S48 shown in FIG. 10, the control amount u is set to zero, and an abnormality is displayed on the display 34. In S43, the control amount u = 0 is D / A converted. It is output to the device 26 and the motor 8 is stopped to stop the vibration damping operation by the dynamic vibration absorber 3. Then, S1, S48, S until the abnormal point is repaired and the state returns to the normal state.
43 is repeated.

In S3, the storage flag instructing the start of data storage in the memory 30 is verified. Here, if the storage flag is TRUE, the data << X >> is temporarily stored in the memory 30 in S4. In S5, the memory counter C _M for measuring the storage time is incremented by counting the sampling period. Next, in S6, it is verified whether or not the data sampling time has reached the time of two cycles of the natural frequency ω ₁ of the primary mode of the building 2. That is, it is verified whether C _M > T _M = 2 (2π / ω ₁ ) × f _s . Here, f _s is a sampling frequency, which is 200 Hz in this embodiment.

If the predetermined sampling time is reached in S5, the storage flag is set to FALSE in S7, and the transfer of the data << X >> temporarily stored in the memory 30 to the storage device 40 in S4 is started. The transfer start flag is set to TRUE. Furthermore, clear the memory counter C _M ,
By counting the sampling period, the timer counter C _T for measuring the pause time of the storage of the data is cleared.

If the storage flag is not TRUE in S3, the storage of the data in S3 to S7 is suspended and the data is directly stored in S8.
Proceed to. In S8, it is verified whether or not the timer counter C _T has reached a predetermined storage time T _S. When the time T _TS for suspending the storage is reached here, the storage flag is set to TRUE in S9, and the timer counter C _T is incremented in S10. Further, in S11, the detection signal of the seismic wave (P wave, S wave) from the seismograph 22 is read.

When the transfer start flag is set to TRUE in S7, the data << X >> temporarily stored in the memory 30 is stored.
Is transferred to and stored in the storage device 40. Further, this data << X >> is taken into the personal computer 41 as a frequency analyzer.

FIG. 6 and FIG. 7 show operational flowcharts of the processing performed in the personal computer 41. In step S51, the data << X >> is loaded from the storage device 40, and in step S52, a frequency analysis (fft) operation is performed to calculate the natural frequency of the building 2. However, here, the control gain of the dynamic vibration reducer 3, that is, the feedback gain << F >> of LQ control described later (hereinafter, the control gain vector is << F >>
, And the characteristics of the dynamic vibration absorber do not change.
In this way, the building 2 from the 1st mode to the 4th mode
Ω ₄ is obtained from the natural frequency ω _{1 of} . Furthermore, in S53,
A reset flag for instructing whether or not to update the control gain << F >> is initialized.

Next, in S55, whether the new natural frequencies ω _{1 to} ω _{4 of} the building 2 obtained in S52 are equal to the preset natural frequencies ω _{10 to} ω _{40 of the} original building 2 respectively. Is verified. Where natural frequency ω ₁ ~ ω
_If any of ₄ is different from the preset value, the reset flag is set to TR in order to update the different value among the natural frequencies ω _{10 to} ω ₄₀ of the original building 2.
In step S58, the value ωj ₀ is replaced with the newly obtained ωj and updated.

Further, the reset flag is verified in S60,
If TRUE, in S61

[0052]

[Equation 1]

The rigidity K, K _{1 to} K ₄ of the building 2 is obtained from the above. Here, ω is the natural frequency ω _{1 to} ω ₄ of the building 2, and m and C are masses m of the plurality of floors of the building 2, respectively.
_{1 to} m ₄ and damping coefficients C _{1 to} C ₄ . The mass m is a value actually measured in advance, and the damping constant C has a small value and has a small influence on the system.

Further, in S62, the stiffness matrix K is obtained by the equation (9) described later, and in S63, the A matrix and the B matrix of the state equation (5) which is also described later are obtained by the equations (6) and (7) described later. Further, in S64, the weight matrix Q and R of equations (12) and (13), which are set in advance, are used as they are to solve the Riccati equation (15), which is also described later, and in S66, the control gain is calculated by the equation (14) described below. Request << F >>.

Further, in S67, the value of the control gain << F >> obtained in S66 is transferred to the CPU 25. The CPU 25, to which the control gain << F >> calculated from the new value of the natural frequency is input, uses the new control gain << F >> from that point onward to control the equations (1) and (2) described below. The amount is calculated, and the damping control is performed accordingly.
Further, if the reset flag is 0 at S60, there is no need to update the omega ₄₀ from the original value omega ₁₀ natural frequency, thus the control gain "F" obtained from the natural frequency ω ₁₀ ~ω ₄₀ Never updated. In this way, the natural frequencies ω _{1 to} ω _{4 of} the building 2 are verified by using the latest vibration data << X >> at each time when the predetermined recording pause time C _TS passes, and the natural frequencies ω _{1 to} ω ₄ are verified as the original values. If there is a discrepancy, it is replaced with the new natural frequency calculated there, the control gain << F >> is obtained using the replaced natural frequency, and from that time point, the new control gain << F >> is used. Since the damping control is performed, even if the rigidity K _{1 to} K ₄ of the building 2 changes due to deterioration of concrete, rebar, etc. due to aging, it is automatically calculated by calculating the natural frequency of the building 2. Damping control is performed by using the control gain << F >> that is detected in accordance with the change and is updated according to the change.
Therefore, it is not necessary to separately oscillate the building 2 or prepare a measuring device to measure the vibration of the building 2, and the number of maintenance inspections can be significantly reduced. Furthermore, since the control gain << F >> is automatically updated as appropriate, it is possible to always execute highly accurate vibration damping operation.

In this embodiment, the data << X >> of the vibration of the building 2 mainly due to the wind pressure is stored for a predetermined period at a predetermined time interval, and the natural frequency of the building 2 is calculated by using the data. However, not limited to that configuration, vibration data << X >> is stored for a predetermined period from the time when an earthquake is detected by the seismograph 22, and the natural frequency of the building 2 is calculated by using it. It may be configured.

Further, in this embodiment, the natural frequency ω _{1 of the} building 2 is
~ Ω ₄ is calculated, and the value is used to determine the rigidity K _{1 of the} building 2.
~ K ₄ is calculated, and the control gain << F >> is obtained from the value, but not limited to this, other constants relating to the structure of the building 2 are calculated from the vibration data << X >>, and depending on the value. Other constants of the control system for controlling the dynamic vibration reducer 3 may be updated.

Next, in S12, it is checked whether or not 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 reaches S13, and the amplitude Ap of the longitudinal seismic wave (P wave) is the lower limit value εp.
Check if greater than.

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. 9, and when the earthquake occurs, it is suitable for the vibration after the step S13 shown in FIG. 8 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 seismic damping mode will be described.

I "Wind Pressure Damping Mode" When the amplitude Ap of the P wave is smaller than the lower limit value εp in the above step S13, the process proceeds to S14 shown in FIG. 9 and the seismic flag is set to "0" and the indicator 34 is displayed. "Wind pressure damping mode" is displayed.

Subsequently, in S15, for gain abnormality detection,
Increments the timer t for peak hold of
Then, in S16, two cycles of the natural period of the primary mode of the building 2
Verify whether or not time sampling was performed. still,
Sampling time T for 2 cycles _MStored in memory 30 in advance
Is supported, T_M= 2 (2π / ω₁) × f_sAccording to the formula
Decided. However, ω₁Is the natural vibration of the first mode of building 2
Number (0.5rad / S), f_sIs the sampling frequency of the control
It is a number (200 Hz).

When the sampling time for two cycles has not yet elapsed in S16, S17-
The process proceeds to S20 without executing the process of S19, and the sensors 15a to 15d and the additional mass 6 installed on the plural floors of the building 2
The displacement, velocity, and acceleration << X >> detected by the sensor 18 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 timer t reaches the time T _M for two cycles.

However, when the time T _M has elapsed in S16, the process proceeds to S17, where the limit value X of the displacement of the top floor is set.
₄ lmt is updated to a value obtained by multiplying the absolute value (Xwunit) of the maximum displacement when the wind speed is 1 m / s without vibration suppression by the maximum wind speed wp (S17). Subsequently, the maximum displacement X ₄ max of the top floor of the building 2 out of the displacements of two cycles stored in the memory 30 in S18.
And the limit value X ₄ lmt obtained in S17 are compared.

In S18, 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 reducer 3, so it is determined that there is no abnormality, In S19, the maximum displacement X ₄ max, the counter t, and the maximum wind speed wp stored in the memory 30 are reset to zero. Then, the displacement and speed of the building 2 and the additional mass 6 detected by the respective sensors 15a to 15d in S20,
Read the acceleration << X >>.

However, in S18, 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 despite the fact that the control gain is being controlled, it is determined that the control gain << F >> is abnormal, and in S21 an alarm flag = 1 is set and an alarm is issued. Emit. Then, the process proceeds to S48 described above, the control amount u is set to zero, "control gain abnormality" is displayed on the display 34, and the control amount u = 0 is output in S43 to stop the dynamic vibration reducer 3.

Returning to FIG. 9, in S22, 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 S23
Maximum displacement X_Fourmax is the current displacement X_FourAbsolute value of | X_Four
It is updated to |, stored in the memory 30, and then proceeds to S24. or,
This time displacement X_FourAbsolute value of | X_FourWhen ｜ is smaller
Moves to S24 without being updated and is detected by the anemometer 16.
Read the wind speed w.

At the next step S25, 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 S26, the maximum wind speed wp is updated to the current value, and the process goes to S26.

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 S26.

At S26, the control gain << Fw >> in the wind pressure damping mode by the LQ control, which will be described later, is obtained, and the following equation (1) is obtained.

[0074]

[Equation 2]

The control amount u is calculated by the following. Then, the control amount u calculated in the wind pressure damping mode is output in S43.

Therefore, when there is no normal earthquake, S14 to S
27 is executed, and the dynamic vibration reducer 3 is controlled using the gain corresponding to the displacement due to a relatively small external force such as wind, that is, the gain << Fw >> when the building 2 does not vibrate, so that it is slowed 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 S13 shown in FIG. 8, a vertical 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 S13, the P wave has an amplitude Ap> εp
If it is, the process moves to S28 and the earthquake flag is set to "1" to enter the seismic damping mode.

In the following processes of S29 to S37, the gain abnormality determination is performed similarly to S15 to S23 of the wind pressure damping mode described above. The displacement of the uppermost floor for two cycles is checked and the maximum value X ₄ max during that period is checked. Is the limit value due to the earthquake X ₄ lm
If it is smaller than t, normal damping control is performed, and conversely, the maximum displacement X ₄ max this time is the limit value X ₄ lmt.
When it becomes larger, it is determined that the gain is abnormal.

In S38, it is checked whether or not the amplitude of the lateral seismic wave (S wave) detected by the seismograph 22 is smaller than the lower limit value εs. Therefore, when the earthquake (S wave) from the epicenter is detected by the seismograph 22 in S38 and the amplitude As of the S wave is larger than the lower limit value εs, the process proceeds to S39 and the earthquake damping mode timer te is reset to zero. S
In 40 to S43, the control amount u corresponding to the magnitude of the amplitude of the S wave is calculated, and the additional mass 6 is moved.

However, in S38, whether the vertical seismic wave (P wave) is detected, or the lateral seismic wave (S wave) is still detected.
If is not detected, the process proceeds to S44, in which the timer te is incremented, and it is checked in S45 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 S40. Therefore, the standby state of the seismic damping mode is maintained until the vertical seismic wave (P wave) is detected in S13 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 value εs is detected while waiting in the seismic damping mode as described above, the timer te is reset to zero in S39 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 (S40). If the current amplitude As is larger, the maximum amplitude ep is updated to the current amplitude in S41 and stored in the memory 30, and the process proceeds to S42.

If 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 S42.

At S42, the control gain << F >> of the seismic vibration suppression mode by LQ control, which will be described later, is obtained, and the following equation (2) is obtained.

[0085]

[Equation 3]

The control amount u is calculated by Then, the control amount u calculated in the seismic damping mode is output in S43. In the next process, since the earthquake flag = 1 is set in S12, the process directly moves from S12 to S29, and S13 and S28 are omitted.

Therefore, when the seismic wave (S wave) propagates, the processing of S28 to S47 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.

Further, 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 S38 to S44, the timer te is incremented, and the waiting time Te elapses (S45). 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 S45, if the earthquake does not occur even after the preset waiting time Te has passed, S
In step S47, the earthquake flag is set to "0" and the maximum amplitude ep is reset to zero. Then, the above-mentioned S42, S
The process of 43 is performed. Further, the timer te is cleared in S47-1.

Therefore, in the next process, when the amplitude of the P wave is smaller than the lower limit value εp in S13, 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, so that there are consecutive earthquakes. Can also control the dynamic vibration reducer 3 with the gain << Fe >> according to the abrupt displacement due to the earthquake.

Here, the calculation method for calculating the control amount u in S27 and S42 will be described.

First, the determination of the wind pressure control mode gain << Fw >> and the seismic damping mode gain << Fe >> will be described. When determining the gains << Fw >> and << Fe >>,
Consider a dynamic model of an N-story building 2 and a dynamic vibration absorber 3 as shown in FIG. In FIG. 11, m is a mass, K is a spring element, and C is a damping element. Then, an optimum regulator for the dynamic model of FIG.
Apply to.

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 the mass msi from the 1st floor to the Nth floor.
And a damping element with a spring damping constant csi of stiffness ksi. Further, the dynamic vibration reducer 3 is represented by the additional mass ma and the control amount u.

The absolute displacement of each floor is ysi, and the displacement of the dynamic vibration absorber 3 is ya. Here, the relative displacement xsi of the ground floor yso and 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

[0098]

[Outer 1]

Then, (however,

[0100]

[Outside 2]

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

[0102]

[Outside 3]

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

[0104]

[Equation 4]

Is expressed as

[0106]

[Equation 5]

However, in the above matrix, I represents a unit matrix and O represents a zero matrix. The same applies to the following.

[0108]

[Equation 6]

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

[0110]

[Equation 7]

It can be expressed as Here, the following evaluation function J is set for the purpose of suppressing the displacement of the building 2.

[0112]

[Equation 8]

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,

[0115]

[Equation 9]

Then, the displacement of the additional mass 6 becomes large when qa is small, and the displacement of the additional mass 6 becomes small when qa is large.

[0117]

[Equation 10]

It is

Therefore, the gains << Fw >> and << Fe >> are

[0120]

[Equation 11]

## EQU14 ## P is obtained as a solution of the Riccati equation (15).

A ^T P + PA + Q−PBR ⁻¹ B ^T P = 0 (15) It should be noted that in weights Q and R, gains << Fw >> and << Fe >> are obtained.
Corresponding to the function qa of the dynamic vibration absorber 3 and the function R of the acceleration of the additional mass 6 are qw and rw for wind pressure and q for earthquake, respectively.
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 was fried 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.).

[0125]

As described above, according to the first, second and third aspects of the present invention, each data regarding the vibration of the structure can be obtained without using a separate measuring device or vibrating the structure. Therefore, using the data, calculation of constants related to the structure of the structure such as natural frequency and rigidity, verification of changes over time in the constants related to the structure of the structure due to deterioration of concrete, rebar, etc. It can be updated, etc., and the number of maintenance and inspection steps can be reduced significantly.

According to the invention described in claim 4 and claim 5, since the change with time of the constant relating to the structure of the structure is automatically calculated, the data is used to calculate the structure due to deterioration of concrete, rebar, etc. It is possible to verify the change over time of the constants related to the structure of the object, update the constants of the control system, etc., and it is possible to greatly reduce the number of maintenance and inspection steps.

According to the sixth aspect of the present invention, the drive signal is controlled by the constant of the control system such as the control gain corresponding to the change over time of the constant related to the structure of the structure such as the natural frequency and the rigidity due to the deterioration of the concrete and the reinforcing bar. Is generated, a highly accurate vibration damping operation is realized and a good vibration damping effect is obtained.

[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 (part 1) for explaining a process executed by a personal computer of the vibration damping device.

FIG. 7 is a flowchart (No. 2) for explaining the process executed by the personal computer of the vibration damping device.

FIG. 8 is a flowchart illustrating a process that is executed subsequent to the process of FIG.

FIG. 9 is a flowchart for explaining processing in a wind pressure damping mode that is executed subsequent to the processing in FIG.

FIG. 10 is a flow chart for explaining a process of seismic damping mode that is executed subsequent to the process of FIG.

FIG. 11 is a diagram showing a vibration model of a building and a dynamic vibration absorber.

[Explanation of symbols]

1 Vibration Control Device 2 Building (Structure) 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 (Including Time Measuring Means) 33 High Pass Filter 40 Memory Device (storage means, storage means at the time of earthquake occurrence) 41 Personal computer (structure constant calculation means, control system constant update means)

 ─────────────────────────────────────────────────── ─── 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 (7)

[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, the displacement of at least one of the structure and the additional mass output from the sensor or the seismograph, the speed and the acceleration, and each data of the external force acting on the structure A vibration damping device having a storage means for storing at least one of the data. 2. The storage means stores at least one data among displacement, velocity and acceleration of at least one of the structure and the additional mass at predetermined time intervals, and external force acting on the structure. The vibration damping device according to claim 1, further comprising time measuring means for causing the vibration damping device. 3. The storage means stores displacements, velocities and accelerations of at least one of the structure and the additional mass output from the sensor or the seismometer and external forces acting on the structure when an earthquake occurs. The vibration damping device according to claim 1, wherein at least one of the data is stored. 4. 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, and the structure. In a vibration damping device for damping the vibration of an object, the displacement, speed and acceleration of the structure output from the sensor or seismograph, and at least one of the data of external forces acting on the structure A vibration damping device having a structure constant calculation means for calculating a constant relating to the structure of a structure. 5. The structure of at least one of the data of displacement, velocity and acceleration of the structure and external force acting on the structure stored by the storage unit or the storage unit at the time of earthquake occurrence The vibration damping device according to claim 1, further comprising a structure constant calculating means for calculating a constant related to the structure. 6. A control system constant updating means for updating a constant of a control system for generating the drive signal according to a change in a constant related to the structure of the structure obtained by the structure constant calculating means. The vibration damping device according to claim 4 or 5. 7. The control according to claim 4, wherein the constant relating to the structure of the structure is at least one of the constants of the natural frequency and the rigidity of the structure. Shaking device.