JPH05295928A - Vibration control device for construction - Google Patents

Abstract

PURPOSE:To make vibration control in three direction of two horizontal directions and torsional direction simultaneously by three vibration controlling gyro devices. CONSTITUTION:Three vibration controlling gyro devices J are positioned on a construction at specified locations so that their supporting shafts S are arranged radially with a specified position as a center. An electric motor 7 as a rotational drive means is connected to one supporting beam 4 of each gyro device J, and an inclinometer 9 is provided on the other supporting beam 4. Also three speedometers 10 which form a vibration detecting means are set up on the construction. Then a controller 8 obtains the angular velocity produced on a rotating body 1 of each gyro device J according to signals input from the three speedometers 10 and the inclinometers 9, and feeds drive signals for generating a rotational torque according to the angular velocity to each electric motor 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration control device for reducing vibrations occurring in structures such as high-rise buildings and towers, and more particularly to a horizontal vibration and a torsional vibration in two directions using the principle of a gyro mechanism. The present invention relates to a vibration control device that reduces

[0002]

2. Description of the Related Art As a device for controlling the vibration generated by an external force such as a wind or an earthquake acting on a structure, a gyro mechanism disclosed in, for example, Japanese Unexamined Patent Publication No. 3-81476 is known. A vibration control device for structures utilizing the principle is known. In this device, a rotating shaft of a rotating body that rotates at a high speed at a constant speed is rotatably supported by a frame, and the frame is supported by an axis line in a horizontal direction orthogonal to the rotating shaft of the rotating body. It uses a vibration control gyro device that is rotatably supported by a structure via a support base.

In this vibration control device, for example, when controlling the horizontal vibration of a structure, the vibration control gyro device is structured such that the rotating body is rotated at a high speed in a horizontal plane (position where the tilt angle is zero) in advance. Place it on the object. Then, when the structure and the rotating body are rotationally deformed at a predetermined angular velocity by an external force input from the X-axis direction with the direction of the support axis as the X-axis, a direction orthogonal to the angular velocity vector,
That is, a predetermined moment is generated in the Y axis direction (around the X axis). This moment causes a rotational motion (precession motion) of a predetermined angular velocity around the X-axis, that is, the support axis with respect to the rotating body, and is proportional to the angular velocity in the direction orthogonal to the angular velocity, that is, around the Y-axis. The generated damping moment is generated in the direction opposite to the rotational deformation generated in the structure, and the damping moment is input to the structure via both support bases to reduce the rotational deformation generated in the structure. ..

This damping moment is generated following the rotational deformation that is repeated in the normal and reverse directions with respect to the structure, thereby reducing the vibration input to the structure. Since the angular velocity generated around the support axis is a passive variable determined according to the angular velocity due to the rotational deformation of the structure, the magnitude of the damping moment generated is limited, and when a large external force acts on the structure. It is not possible to generate a vibration damping moment of a magnitude corresponding thereto.

On the other hand, the inventor of the present application amplifies the angular velocity around the support shaft by a drive motor or the like which is a rotary drive means, as described in, for example, Japanese Patent Application No. 2-283616. Discloses a method of increasing the value of the damping moment. However, the damping moment generated by the precession movement of the rotating body of the damping gyro device as described above acts as a vertical force (couple force) on the structure via the pair of support bases to suppress the vibration. Although it is a force, the force forming the couple does not always act in the vertical direction on the structure, and part of it depends on the inclination angle θ of the rotating body with respect to the horizontal plane at that time. It is the horizontal force (torsion moment) that causes the twisting motion.

In order to eliminate this, in the conventional device, two vibration damping gyro devices having half the performance of the above vibration control device are installed separately, and the rotating bodies of the two devices are mutually installed. Rotate in the opposite direction at high speed to cancel the above-mentioned twisting moment, or install another vibration control device with the same performance on the structure with the support shafts of the above device and the mutual support shafts parallel to each other, and rotate the rotors in opposite directions. It is rotated in the same direction, and the same angular velocity is generated in the rotating bodies of both devices to cancel the twisting moment, so that only the vibration damping moment in the horizontal direction is applied to the structure.

Further, for damping control of torsional vibrations of a structure, the vibration damping gyro device is installed in the structure so that the rotating body rotates at high speed in the vertical plane, and the vibration occurs in the structure. The rotating body precesses in the same manner as described above due to the twisting moment, and a torsional moment for damping that is proportional to the angular velocity of the precession is generated, and the torsional vibration of the structure is reduced.

[0008]

However, in the above-mentioned conventional vibration control device, each vibration in the horizontal direction and the twisting direction is independently controlled by the separate vibration control gyro devices, so that the vibration control device in one direction is controlled. At least two damping gyro devices are required to suppress horizontal vibrations, and at least one damping gyro device is required to suppress torsional vibrations. Attempting to simultaneously suppress horizontal vibration and torsional vibration about the vertical axis requires at least five vibration damping gyro devices, and the space dedicated for installing the vibration control device in a structure becomes wide. There's a problem.

The present invention has been made in view of the above problems, and provides a vibration control device capable of simultaneously performing vibration control in two horizontal directions and three twisting directions by means of three damping gyro devices. The purpose is to

[0010]

In order to achieve the above object, a structure vibration control apparatus of the present invention rotates a rotating body rotating at high speed around a support shaft which is orthogonal to the rotating shaft and is horizontal. A gyro device for vibration damping that is supported as much as possible is installed in the structure to cause a precession motion around the support axis in the rotating body, and a damping moment generated in proportion to the angular velocity of the precession motion causes In a vibration control device for reducing the vibration of a structure, three vibration damping gyro devices arranged such that the axes of the rotating shafts of the respective rotating bodies are not parallel to each other,
Angle detection means for respectively detecting the inclination angle of the rotating body of each vibration control gyro device with respect to the horizontal plane, rotational drive means for rotationally driving each rotating body around the support axis, and the structure are generated in the structure. A vibration detecting means for detecting horizontal movement in two horizontal directions and a twisting movement about the vertical axis is connected to the angle detecting means, the rotation driving means, and the vibration detecting means, and a signal inputted from the vibration detecting means is also connected. In addition, the deformation occurring in the structure is calculated, and the vibration damping moments in two horizontal directions and the torsion moments required to cancel the deformations are calculated, and the angle detecting means determines the inclination angle of each rotating body. In order to generate the damping moment calculated above based on the respective tilt angles of the respective rotating bodies and the respective tilt angles of the support shafts of the respective rotating bodies with respect to the two horizontal directions. Calculating an angular velocity applied to the rotating body, it is characterized in that a supply controller to the rotary movement driving means drive command for driving the rotating body rotational torque of an amount corresponding to the angular velocity thereof calculated.

[0011]

In one vibration-damping gyro device, when a predetermined torque for rotating around the support shaft is input to the rotating body rotating at high speed, the rotating body uses the supporting shaft as a rotating shaft, which is proportional to the torque. A rotational motion (precession motion) having a predetermined angular velocity is generated, and a damping moment M proportional to the angular velocity of the precession motion is generated in the support axis direction.

This damping moment M is expressed by the following equation. M = IωΩ where Ω: angular velocity around the support axis of the rotary body I: mass moment of inertia of rotation about the rotary axis of the rotary body ω: rotational angular velocity of the rotary body This damping moment M depends on the structure. On the other hand, it acts as a vertical force (couple), and serves as a damping force that reduces deformation of the structure due to vibration. However, the force forming the couple does not always act in the vertical direction on the structure, and when the damping moment M is generated, the rotating body at that time has a predetermined inclination angle θ with respect to the horizontal plane. When tilted at, the vibration damping moment M is divided into a vibration damping moment M _{H in the} support axis direction, that is, a horizontal direction, and a twisting moment Mτ that causes a twisting motion in the structure, as shown below. M _H = M · cos θ = I · ω · Ω · cos θ Mτ = M · sin θ = I · ω · Ω · sin θ Further, assuming that the two horizontal directions of damping are the X axis and the Y axis,
The horizontal damping moment M _H is calculated by the following equation.
It can be decomposed into a damping moment M _X about the X axis and a damping moment M _Y about the Y axis. M _X = I · ω · Ω · cos θ · sin α M _Y = I · ω · Ω · cos θ · cos α where X axis and Y axis are orthogonal coordinates, and α is the inclination of the support axis from the X axis Suppose that the angle is shown.

In the present invention, since three vibration damping gyro devices are installed, the vibration damping moments M _{X and} M _{Y in} the two horizontal directions and the twisting moment M τ have three vibration damping gyro devices. It is expressed as the following formula as the resultant force of the moment generated from. _{M X = I 1 · ω 1} · Ω 1 · cosθ 1 · sinα 1 + I 2 · ω 2 · Ω 2 · cosθ 2 · sinα 2 + I 3 · ω 3 · Ω 3 · cosθ 3 · sinα 3 M Y = I ₁ · ω ₁ · Ω ₁ · cos θ ₁ · cos α ₁ + I ₂ · ω ₂ · Ω ₂ · cos θ ₂ · cos α ₂ + I ₃ · ω ₃ · Ω ₃ · cos θ ₃ · cos α ₃ Mτ = I ₁ · ω ₁ · Ω ₁ · sin θ ₁ + I ₂ · ω ₂ · Ω ₂ · sin θ ₂ + I ₃ · ω ₃ · Ω ₃ · sin θ ₃ where I ₁ : mass of the rotating body in the first damping gyro device Rotational inertia moment ω ₁ : Rotational angular velocity of the rotating body in the first damping gyro device Ω ₁ : Angular velocity around the support axis of the rotating body in the first damping gyro device θ ₁ : First damping gyro tilt angle from the horizontal plane of the rotating body in the device alpha _1: first vibration damping gyro rotating body from the X-axis in the apparatus rotation axis of inclination I _2: second Ja damping B mass of the rotating body in the device rotational inertia moment omega _2: Rotation of the rotational angular velocity Omega ₂ of the second vibration damping gyro device: angular velocity about the support shaft of the rotating body in the second damping for the gyro device theta _2: Inclination angle α ₂ of the rotating body from the horizontal plane in the second vibration control gyro device: inclination of the rotating shaft of the rotating body from the X axis in the second vibration control gyro device I ₃ : third vibration control gyro Mass moment of inertia of rotation of the rotating body in the device ω ₃ : Rotational angular velocity of the rotating body in the third damping gyro device Ω ₃ : Angular velocity around the support axis of the rotating body in the third damping gyro device θ ₃ : 3 of vibration damping gyro tilt angle from the horizontal plane of the rotating body in the device alpha _3: represents the inclination of the rotation axis of the rotating body from the X-axis in the third vibration damping gyro device.

From the above three equations, the following three equations are obtained when the respective angular velocities Ω _1, Ω _2, Ω ₃ around the support shaft that drives the three rotating bodies are obtained. Here, in order to simplify the formula, the mass rotational inertia moments I _1, I _2, I _3, and the rotational angular velocities ω _1, ω _2, ω _3, which are constant values, have the same value. Assuming that the mass moment of inertia of each rotor is I,
The rotation angular velocity is ω. _{Ω 1 = {1 / (I} · ω · C)} · {(cosθ 2 · cosα 2 · sinθ 3 - cosθ 3 · cosα 3 · sinθ 2) · M X + (cosθ 2 · sinθ 3 · sinα 2 - cosθ ₃ · sin θ ₂ · sin α ₃ ) · M _Y + cos θ ₂ · cos θ ₃ · (cos α ₃ · sin α ₂ -cos α ₂ · sin α ₃ ) · M τ} Ω ₂ = {1 / (I · ω · C)} · { _{(cosθ 3 · cosα 3 · sinθ} 1 - cosθ 1 · cosα 1 · sinθ 3) · M X + (cosθ 1 · sinθ 3 · sinα 1 - cosθ 3 · sinθ 1 · sinα 3) · M Y + cosθ 1 · cosθ _{3 · (cosα 1 · sinα 3} -cosα 3 · sinα 1) · Mτ} Ω 3 = {1 / (I · ω · C)} · {(cosθ 2 · cosα 2 · sinθ 1 - cosθ 1 · cosα 1 · _{sinθ 2) · M X + (} cosθ 1 · sinθ 2 · sinα 1 - co sθ ₂ · sin θ ₁ · sin α ₂ ) · M _Y + cos θ ₁ · cos θ ₂ · (cos α ₁ · sin α ₂ −cos α ₂ · sin α ₁ ) · M τ} However, in the above three expressions, C = {cos θ ₃ · cos α _{3 · (cosθ 2 · sinθ 1 ·} sinα 2 -cosθ 1 · sinθ 2 · sinα 1) + cosθ 2 · cosα 2 · (cosθ 1 · sinθ 3 · sinα 1 -cosθ 3 · sinθ 1 · sinα 3) + cosθ 1 · cosα 1 a _{· (cosθ 3 · sinθ 2 ·} sinα 3 -cosθ 2 · sinθ 3 · sinα 2).

In the above equation, since the rotational moment of inertia of each rotor, the rotational angular velocity, and the tilt angle of the support shaft of each rotor from the X axis are constant, the damping moment to be generated, and If the angle of inclination of each rotating body from the horizontal plane is known, the angular velocity to be generated in each rotating body can be known from the above formula. Based on the above principle, in the present invention, when an external force due to wind, an earthquake, or the like is input to a structure and horizontal movement or twisting movement in two horizontal directions occurs in the structure, the horizontal movement or twisting movement causes the structure to move. Is detected by a vibration detection means, such as a sensor including a plurality of speedometers and accelerometers, and a signal corresponding to the detected value is supplied to the controller.

Based on the signal, the controller calculates the bending moment and the torsion moment in the two horizontal directions generated in the structure at that time, and the bending moments M _X, M _Y , which cancel the three moments, are calculated. And the angular velocity around the support axis generated in the three rotating bodies for generating the twisting moment Mτ is obtained from the above formula. Here, the mass rotational moment of inertia and the rotational angular velocity of the rotating bodies of both rotating bodies are values that are previously determined to be constant.

The angle detector constantly supplies the controller with the inclination angle of each rotor with respect to the horizontal plane. Further, the controller supplies to the rotary motion drive means a drive command for rotating the rotary body with the support shaft as the rotary shaft so as to generate each of the calculated angular velocities, and for generating a predetermined rotary torque.

The rotary drive means causes each of the rotating bodies to perform a precession motion at different angular velocities by rotationally driving the rotating bodies around the support shaft with a predetermined torque. This allows
The necessary horizontal two-direction damping moment and the required torsional damping moment are simultaneously generated to reduce the bending moment and torsion moment at that time due to the vibration generated in the structure.

This is done for the bending moment and the twisting moment which are repeatedly generated in the normal and reverse directions due to the vibration, and reduces the vibration of the structure.

[0020]

Embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the vibration control device of the present embodiment is configured by installing three damping gyro devices J on a predetermined horizontal surface such as the top of a structure. The support shafts S of the respective rotating bodies 1 of the gyro device J are arranged so as to be radial with respect to a predetermined position so that the support shafts S are not parallel to each other.

Explaining the structure of the vibration-damping gyro device J, which is the main part of each vibration control device installed in the above-mentioned structure, as shown in FIGS. 2 and 3, the outer peripheral portion is larger than the inner peripheral portion. A thick disk-shaped rotating body 1 is arranged with a rotating shaft 2 facing up and down, and both upper and lower ends of the rotating shaft 2 are on the central axis of a flat spindle-shaped frame 3 respectively. Is rotatably supported on the upper and lower parts of the.
On the outer periphery of the frame 3, a pair of support beams 4 are provided so as to extend in the support axis S direction at both ends in the support shaft S direction which are orthogonal to the rotation axis 2 of the rotating body 1 and are horizontal. The support beams 4 are rotatably supported by a support table 5 fixed to the structure, respectively, so that the rotator 1 is rotatable about the support axis S via the frame 3 and the support beams 4.

A rotary body driving motor 6 which is a rotary body driving means for rotating the rotary body 1 at a high speed is connected to one of the rotary shafts 2 of the rotary body 1 to rotate the rotary body 1 at a constant speed. It is driven to rotate at high speed at angular velocity. Further, an electric motor 7 which is a rotary drive means for rotating the rotary body 1 around the support shaft S is connected to one of the support beams 4 of the vibration damping gyro device J. The electric motor 7 is connected to the controller 8 and rotationally drives the rotating shaft 2 with a predetermined torque according to a command supplied from the controller 8 to support the rotating body 1 at a predetermined angular velocity Ω proportional to the torque. It is designed to rotate around S (precession).

On the other side of the support beam 4, the rotating body 1
An inclinometer 9 is attached as an angle detecting means for detecting the inclination angle θ of the inclinometer 9 with respect to the horizontal plane.
Is connected to the controller 8 and constantly supplies the controller 8 with a signal corresponding to the detected inclination angle θ of the rotating body 1. Three vibration damping gyroscopes J having the above structure
However, the electric motor 7 and the inclinometer 9 are provided, and as shown in FIG. 1, the electric motor 7 and the inclinometer 9 are arranged in the structure such that the directions of the support axes S thereof are not parallel.

The rotating bodies 1 of the three vibration damping gyro devices J have the same mass rotational inertia moment I and rotate at the same rotational angular velocity ω at high speed. Here, the horizontal two directions in which the vibration is suppressed are the X axis and the Y axis which are orthogonal to each other as shown in FIG. A pair of speedometers 10 forming vibration detecting means are respectively installed at the structure at a symmetrical position sandwiching the three damping gyro devices J and parallel to the X axis. Another speedometer 10 is installed in the direction orthogonal to the line connecting the pair of speedometers 10, that is, in the Y-axis direction. The three speedometers 10 are connected to the controller 8, detect the moving speed of the structure generated by the vibration, and supply the controller 8 with a signal corresponding to the moving speed.

The controller 8 calculates the bending moments in the two horizontal directions and the torsional moments about the vertical direction, which are occurring in the structure at that time, based on the signals input from the three speedometers 10, and The bending moments M _X, M _Y in two horizontal directions that cancel each moment and the twisting moment M τ are obtained, and at the same time, a signal corresponding to the tilt angle θ of each rotating body 1 with respect to the horizontal plane, which is input from the inclinometer 9, is input. , The angular velocities Ω _1, Ω ₂ , Ω ₃ generated in the rotating body 1 of the three vibration damping gyroscopes J are obtained from the following three equations, and the rotational torques corresponding to the angular velocities Ω _1, Ω ₂ , Ω ₃ are generated. The drive signal to be supplied is supplied to each electric motor 7.

Ω₁= {1 / (I ・ ω ・ C)} ・ {(cos θ₂・ Cos α₂・ Sin θ₃ -Cos θ₃・ Cos α₃・ Sin θ₂) ・ M_X + (Cos θ₂・ Sin θ₃・ Sinα₂ -Cos θ₃・ Sin θ₂・ Sinα₃) ・ M_Y + Cos θ₂・ Cos θ₃・ (Cos α₃・ Sinα₂-Cosα₂・ Sinα₃) ・ Mτ} ・ ・ ・ (1) Ω₂= {1 / (I ・ ω ・ C)} ・ {(cos θ₃・ Cos α₃・ Sin θ₁ -Cos θ₁・ Cos α₁・ Sin θ₃) ・ M_X + (Cos θ₁・ Sin θ₃・ Sinα₁ -Cos θ₃・ Sin θ₁・ Sinα₃) ・ M_Y + Cos θ₁・ Cos θ₃・ (Cos α₁・ Sinα₃-Cosα₃・ Sinα₁) ・ Mτ} (2) Ω₃= {1 / (I ・ ω ・ C)} ・ {(cos θ₂・ Cos α₂・ Sin θ₁ -Cos θ₁・ Cos α₁・ Sin θ₂) ・ M_X + (Cos θ₁・ Sin θ₂・ Sinα₁ -Cos θ₂・ Sin θ₁・ Sinα₂) ・ M_Y + Cos θ₁・ Cos θ₂・ (Cos α₁・ Sinα₂-Cosα₂・ Sinα₁) · Mτ} (3) However, in the above formula, C = {cos θ₃・ Cos α₃・ (Cos θ₂・ Sin θ₁・ Sinα₂ -Cos θ₁・ Sin θ₂・ Sinα₁) + Cos θ₂・ Cos α₂・ (Cos θ₁・ Sin θ₃・ Sinα₁ -Cos θ₃・ Sin θ₁・ Sinα₃) + Cos θ₁・ Cos α₁・ (Cos θ₃・ Sin θ₂・ Sinα₃ -Cos θ₂・ Sin θ₃・ Sinα₂) Where ω is each of the three damping gyroscopes J
It represents the angular velocity around the rotation axis 2 of the rotating body 1, and I is each rotation.
Represents the mass rotational moment of inertia of the body 1, α_1,α _2,α
₃Is X in the direction of the support axis S of the three damping gyro devices J
It shows the angle of inclination from the axis, and its angular velocity
ω, mass rotation moment of inertia I, and tilt angle of support axis S
Degree α_1,α_2,α₃Is a predetermined constant value
It Also, θ₁, Θ_2,And θ₃Is each rotating body 1
The above-mentioned vibration that represents the inclination angle of the
In the control device, as in the flow shown in FIG.
Time, that is, external force exceeding a prescribed level due to wind, earthquake, etc., enters the structure.
In a state where no force is applied, an inclinometer 9 which is an angle detecting means
The electric power is input so that the inclination angle of each rotor 1 input from
Slowly rotate the rotating body 1 via the motion motor 7.
The rotating body 1 is kept horizontal (step 1).

This is because the smaller the tilt angle θ of the rotating body 1 is, the larger the horizontal damping moment applied to the structure is, and the more the tilting of the rotating body 1 is prevented during the damping control. .. In the above state, when an external force more than a predetermined value due to wind, earthquake, etc. is input to the structure, the external force causes horizontal vibration in the support axis S direction and torsional vibration about the vertical axis in the structure (step 2). .. Then, the moving speed of the structure at the position where this vibration control device is installed is measured by the three speedometers 10 and supplied to the controller 8 (step 3).

The controller 8 obtains the moving speeds in the two horizontal directions at that time, which are generated in the structure, and the twisting speed with the axis up and down, based on the signals input from the three speedometers 10. Then, the bending deformation and the twisting deformation in the two horizontal directions occurring in the structure at that time are calculated (step 4). Next, the controller 8 calculates the vibration damping moments M _{X and} M _{Y in the} two horizontal directions that cancel the bending deformation and the twisting deformation thus obtained, and the twisting moment M τ in the twisting direction with the axis vertically (step 5), and substitute that value into the above equations (1), (2), and (3) to obtain 3
The angular velocities Ω _1, Ω ₂ , Ω ₃ generated in each rotating body 1 of the base vibration-damping gyro device J are calculated (step 6).

Here, the mass rotational inertia moment I _{, the} rotational angular velocity ω _{, and} the inclination angle of the support shaft S of the rotary body 1 in the above equation are predetermined values, and the tilt angle of each rotary body 1 with respect to the horizontal plane. θ _1, θ _2, and theta ₃ is a value that is always inputted from the angle detecting means. Next, the controller 8 individually supplies the drive signals corresponding to the torques corresponding to the respective angular velocities Ω _1, Ω ₂ , Ω ₃ thus obtained to the respective electric motors 7.

The electric motor 7 rotationally drives the support beam 4 with a torque commensurate with the supplied drive signal, and each rotary body 1 via the frame 3 has different angular velocities Ω _1, Ω _{2 which} are proportional to the respective torques. _, Rotate (precession) with Ω ₃ (step 7). Due to this precession motion, moments corresponding to the angular velocities Ω _1, Ω _2, Ω ₃ given to the _three vibration damping gyroscopes J are generated in the support axis S direction, and the support bases of the respective vibration damping gyroscopes J are generated. A vertical force (couple) is input to the structure via 5. At this time, since each of the rotating bodies 1 is tilted at a predetermined tilt angle θ with respect to the horizontal plane, the couple force is, as described above, the damping moments M _X, M in the two horizontal directions according to the above equation. Vibration damping moment Mτ in _Y and twist direction
Is generated (step 8), and the bending moment and torsion moment at that time due to the external force input to the structure are reduced.

The above-mentioned processing is applied to the deformation in both the forward and reverse directions, which occurs in accordance with the rotational deformation of the structure caused by the vibration.
The vibration input to the structure is reduced by adding a damping moment such that the vibration becomes a predetermined value or less (step 9).
Further, the inclination angles θ _{1 and} θ _{2 of the} rotating body 1 measured by the inclinometer 9 during the vibration damping process are equal to or more than a predetermined value, for example, 4
When it becomes 5 degrees or more, the electric motor 7 which is a rotating motion means is separated from the support beam 4 to perform a passive vibration damping process which is a conventional vibration damping process by the passive angular velocity generated by the rotational deformation of the structure. To do so.

In the above embodiment, the support beam 4 is directly rotated by the electric motor 7 to rotate the rotator 1 around the support axis S, but the rotary drive means is not limited to this. Without, for example, each frame 3
A drive motor is mounted on the central axis of the outer periphery, that is, on a lower structure on the same plane as the rotation shaft 2, and gears meshing with each other are provided between the drive motor and the frame 3, and the frame is driven by the rotation of the drive motor. Other known structures such as a structure in which the rotating body 1 is driven to rotate around the support axis S by rotating the rotating body 3 may be used.

Further, in the above embodiment, the three speedometers 10 are used as the vibration detecting means for measuring the vibration of the structure. However, the invention is not limited to this, and an accelerometer or a displacement meter may be used. However, other known sensor combinations may be used, such as horizontal vibration is measured by the speedometer 10 and torsional movement is measured by a torsion meter. Further, in the above-described embodiment, the mass rotational inertia moment and the rotational angular velocity of the rotor 1 of the two damping gyro devices J are set to be the same, but the two damping gyro devices are described. The magnitudes of the mass rotational moments of inertia and the rotational angular velocities of the rotating body 1 of J do not necessarily have to be the same value, and may be set to different values.

Further, although the electric motor 7 is used as a means for directly applying a torque to the support shaft S as the rotary driving means, it is not limited to this, and other mechanism such as a hydraulic mechanism may be used. Good. Further, in the above embodiment, the three damping gyro devices J are installed so that both support shafts S radially spread around one arbitrary point, but as shown in FIG. The supporting shaft S may be arranged so as to form a triangular shape. The point is that the three support axes S may be arranged so as not to be parallel to each other.

If it is known from the design that the vibration in the X-axis direction becomes stronger than that in the Y-axis direction, as shown in FIG. 6, the inclination of two of the three support shafts S is tilted. To the X-axis and the damping moment M _{X in the} X-axis direction rather than in the Y-axis direction
May be generated largely, and if the deformation in the X-axis direction is larger than that in the Y-axis direction, the inclination of the support shaft S of all three units may be made closer to the X-axis and The horizontal component of the damping moment of the damping gyro may be greater in the X-axis direction than in the Y-axis direction.

Similarly, when increasing the damping moment in the Y-axis direction, it is preferable to arrange as shown in FIGS. 7 and 8.

[0037]

As described above, in the vibration control device for a structure of the present invention, vibration damping in two horizontal directions (two-dimensional horizontal direction) and a twisting direction is achieved by using only three vibration control gyro devices. The control can be performed simultaneously. Therefore, since at least five or more vibration damping gyro devices have been required in the past, only three vibration damping gyro devices are required. The effect that the space occupied by the vibration control device can be reduced is obtained.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing vibration control of a structure according to an embodiment of the present invention.

FIG. 2 is a plan view showing a vibration control gyro device according to an embodiment of the present invention.

FIG. 3 is a sectional view taken along line DD in FIG.

FIG. 4 is a diagram showing a processing flow of a vibration control device according to an embodiment of the present invention.

FIG. 5 is a schematic configuration diagram showing vibration control of a structure according to a second embodiment of the present invention.

FIG. 6 is a schematic configuration diagram showing vibration control of a structure according to a third embodiment of the present invention.

FIG. 7 is a schematic configuration diagram showing vibration control of a structure according to a fourth embodiment of the present invention.

FIG. 8 is a schematic configuration diagram showing vibration control of a structure according to a fifth embodiment of the present invention.

FIG. 9 is a schematic configuration diagram showing vibration control of a structure according to a sixth embodiment of the present invention.

[Explanation of symbols]

 1 Rotating Body 2 Rotating Shaft 3 Frame 4 Support Beam 5 Support Stand 7 Electric Motor 8 Controller 9 Inclinometer 10 Speedometer J Gyro Device for Vibration S Support Shaft

Claims (1)

[Claims] 1. A vibration damping gyro device, which supports a rotating body rotating at a high speed rotatably around a horizontal support shaft orthogonal to the rotating shaft, is installed in a structure, and the rotating body is mounted on the rotating body. In a vibration control device that causes a precession motion around a support axis and reduces the vibration of a structure by a damping moment that is generated in proportion to the angular velocity of the precession motion, the axes of the rotating shafts of each rotor are parallel to each other. Of the three vibration damping gyro devices arranged so as not to become the above, angle detection means for respectively detecting the inclination angles of the rotating bodies of the respective vibration damping gyro devices with respect to the horizontal plane, and support shafts for the respective rotating bodies. A rotary motion driving means for rotationally driving around, a vibration detecting means for detecting horizontal motion in two horizontal directions occurring in the structure and a torsional motion about the vertical axis, the angle detecting means, the rotary motion driving means, And vibration detection hand Connected to the stage, the deformation generated in the structure is obtained based on the signal input from the vibration detection means,
The horizontal two-direction damping moment and the torsion moment required to cancel the deformation are calculated, and a signal corresponding to the tilt angle of each rotating body is input from the angle detecting means, so that each of the rotating bodies receives a signal. Based on the tilt angle and the respective tilt angles of the support shafts of the respective rotary bodies with respect to the two horizontal directions, the angular velocities given to the respective rotary bodies for generating the calculated damping moment are calculated, and the calculated A vibration control device for a structure, comprising: a controller that supplies a drive command for driving each rotating body with a rotation torque of an amount corresponding to each angular velocity to a rotary drive unit.