JPH07229324A - Vibration control device - Google Patents

Abstract

PURPOSE:To calculate the control amount of an actuator on the basis of the outputs from the sensors for detecting the vibrational condition of a structure, and also to detect the temperatures of the structure for carrying out the temperature correction to the control amount. CONSTITUTION:In a vibration control device 1, a dynamic vibration damper 3 installed on the penthouse of a building 2 is operated by means of the control signal from a control circuit 4 for controlling the horizontal vibration of the building 2. The building 2 is provided with vibrational condition detecting sensors 14 (141 to 145) for detecting the displacement of the respective floors, and the structural members (steel structures) of the building 2 are provided with temperature sensors 15 (151 to 155) for detecting the temperatures of the respective structural members. A CPU 23 detects the displacements of the building 2 by the detection signals from the vibrational condition detecting sensors 14 (141 to 145), and calculates the control amount to the motor 8 of the dynamic vibration damper 3 for controlling the vibration of the building 2, and carries out the temperature correction of the control amount on the basis of the temperature detection signals from the temperature sensors 15 (151 to 155).

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 to a vibration damping device configured to damp the vibration of a structure by driving an additional mass based on an output from a sensor for detecting the vibration state of the structure. Regarding the shaking device.

[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 that is screwed into the additional mass is driven by a motor or the like so that the additional mass is horizontal. Devices having a dynamic vibration absorber configured to be reciprocally moved have been considered.

Then, the dynamic vibration reducer drives and controls the motor by a drive signal from a control device that calculates a control amount according to the magnitude of an output value from a sensor that detects a vibration state such as displacement and speed of the building. It is designed to move the added mass.

[0005]

However, in structural materials such as steel frames constituting a building, the spring constant or damping coefficient becomes small in seasons when the temperature is high, such as in the summer, and conversely, when the temperature is high in the winter. The spring constant or damping coefficient increases in the low season. Therefore, in a vibration damping device that operates a dynamic vibration absorber to suppress vibrations, when the state feedback gain vector is fixed and the control amount is calculated in correspondence with the spring constant and damping coefficient of the structural material at room temperature, When the temperature of the material rises, the spring constant and damping coefficient decrease, and the control amount exceeds the target value required for damping the building vibration. There is.

On the contrary, when the temperature of the structural material decreases, the spring constant and the damping coefficient increase, and the control amount becomes less than or equal to the target value necessary for damping the vibration of the building. Vibration control effect cannot be obtained.

Therefore, an object of the present invention is to provide a vibration damping device that solves the above problems.

[0008]

SUMMARY OF THE INVENTION The present invention has a calculating means for calculating a control amount based on an output value from a sensor for detecting a vibration state of a structure, and according to the control amount output from the calculating means. In a vibration damping device that drives an actuator to move an additional mass to damp the vibration of the structure, temperature detecting means for detecting the temperature of a structural material constituting the structure, and detection from the temperature detecting means Temperature correction means for correcting the control amount output from the calculation means according to the value.

[0009]

By detecting the temperature of the structural material that constitutes the structure and correcting the control amount to the actuator that moves the additional mass according to the detected value, the temperature of the structural material fluctuates due to, for example, seasonal changes. Even so, it is possible to suppress the vibration of the structure by calculating the control amount according to the spring constant and the damping coefficient of the structural material.

[0010]

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

In each of the drawings, the vibration damping device 1 includes a dynamic vibration reducer 3 installed on the roof of a building 2 as a structure.
The vibration is controlled by a 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 serving 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 circuit 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 reaction of the generated inertial force of the additional mass 6 suppresses the vibration of the building 2.

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.

Earthquakes occur on, for example, the odd floors and the roof of Building 2.
Alternatively, the vibration state caused by wind pressure may be displaced, speeded, or applied.
A plurality of vibration state detection sensors 14 that detect by speed₁~
14 _FiveIs installed. Note that the vibration state
State detection sensor 14₁~ 14_FiveDetects the displacement of building 2
Displacement sensor is used.
By first-order or second-order differentiation of the detected displacement.
The building 2 speed or acceleration is detected.
It

Reference numeral 15 (15 ₁ to 15 ₅ ) is a temperature sensor (temperature detecting means), which detects the temperature of, for example, an odd number of floors and a rooftop structural material (steel frame or the like) 16 and outputs a detection signal corresponding to the detected temperature. To do. Each temperature sensor 15 (15 ₁ to 15 ₅ )
Is, for example, as shown in FIG. 4, an outer wall 17a and an inner wall 17b.
It is directly fixed to the structural member 16 interposed between and.

Further, the dynamic vibration absorber 3 has a displacement of the additional mass 6 and a high speed.
A sensor 18 for detecting degrees and accelerations is provided.
Each vibration state detection sensor 14 (14₁~ 14_Five), Temperature
Sensor 15 (15₁~ 15_Five) And each detection from the sensor 18
Output signal is amplifier 19₁~ 19 _Five, 20₁~ 20_Five, 21
Is amplified by and input to the A / D converter 22.

[0019] 23 by a CPU, a the A / D converter 22 via the vibration state detection sensor 14 (14 ₁ to 14 _5), from the detection signal and the sensor 18 from the temperature sensor 15 (15 ₁ to 15 ₅₎ When the detection signal is converted into a digital signal and input, a control amount for the dynamic vibration reducer 3 is calculated based on this sensor signal. Further, CPU 23, as described later, has a temperature compensation means 25 for correcting the control amount of the motor 8 for moving the additional mass 6 in response to the detection signal from the temperature sensor 15 (15 ₁ to 15 _5).

The calculation result of the CPU 23 is the D / A converter 2
4 is converted into an analog signal and supplied to the drive circuit 25 of the motor 8, and the drive circuit 25 outputs a drive signal corresponding to the control amount calculated by the CPU 23 to the motor 8 of the dynamic vibration reducer 3. Further, as shown in FIG. 5, the CPU 23 has a calculation circuit 23a for calculating the control amount and a storage circuit 23b for storing each program and each data.

A temperature correction table 23c is stored in the memory circuit 23b, and the temperature correction table 23c stores the spring constant and damping coefficient of each floor corresponding to the mathematical model shown in FIG. A value obtained by averaging the offset between the temperature value and the normal temperature value in all floors is registered in advance. Therefore, the CPU 23 uses the temperature sensor 15
The spring constant and damping coefficient of the structural material 16 registered in the temperature correction table 23c can be obtained based on the average value of the temperature detection values of the structural material 16 detected by (15 ₁ to 15 ₅ ).

Next, the control of the vibration damping device 1 having the above structure will be described with reference to FIG.

In the figure, the building 2 is replaced with a mathematical model composed of masses m _{s1 to} m _sN , spring elements K _{s1 to} K _sN , and damping elements C _{s1 to} C _sN . Also, replacing the additional mass 6 Similarly, the dynamic vibration reducer 3 m _a, the control force of the motor 8 to the mathematical model of the u. In addition, the displacement of each floor of Building 2 is y
_s1 ~y _sN, displace the y _a of the additional mass 6, the displacement of the ground and Z. And each x _s1 ~x _sN relative displacement taking the difference between the displacement y _s1 ~y _sN and ground displacement Z of each floor of the building 2.

Here, a state equation is created for the mathematical model shown in FIG.

[0025]

[Equation 1]

However, X, A and B in the above formula (1) represent vectors as follows, and u is a vector representing a control amount which will be described later.

[0027]

[Equation 2]

[0028]

[Equation 3]

[0029]

[Equation 4]

[0030]

[Equation 5]

If the state feedback as shown in the following equation is applied to this system, the controlled variable u is expressed by u = -FX (8). Then, the following equation of state of the closed loop system is obtained.

[0032]

[Equation 6]

Here, F is a state feedback gain vector, and u is a control amount. This F is determined by the following procedure using the optimal regulator theory.

First, a quadratic form evaluation function J as shown below is defined.

[0035]

[Equation 7]

In the optimum regulator theory, the state feedback gain vector F that minimizes this quadratic form evaluation function J is determined. Here, Q and R are positive definite matrices called a weight matrix, and if Q is made smaller, the response is improved,
The control amount can be reduced by increasing.

The above state feedback gain vector F
To seek, the by obtaining a positive definite solutions P of the following Riccati equation ^{PA + A T P-PBR -1} B T P + Q = 0 ... (11), evaluated by determining the state feedback gain vector F as follows function J Can be minimized.

F = R ^{−1 BT} P (12) At this time, the gradual stability of the closed loop system is guaranteed,
Stabilization can be achieved.

The CPU 23 has a state feedback gain vector F calculated by the above control theory,
The control amount u is obtained based on the displacement detection signal X of the building 2 obtained from the vibration state detection sensor 14.

FIG. 7 shows a processing procedure executed by the CPU 23.

In the figure, the CPU 23 checks in step S1 (hereinafter "step" is omitted) whether or not the system of the vibration damping device 1 is abnormal. This S1
If there is no abnormality, the process proceeds to S2, and the detection signal from the vibration state detection sensor 14 (14 _{1 to} 14 ₅ ) described above regarding the state amount such as the relative displacement of each floor due to the vibration of the building 2 is input.

Then, in S3, the control amount u of the dynamic vibration absorber 3 is calculated from the input state amount and the state feedback gain vector F calculated by the above-mentioned control theory. Then, in S4, the calculated control amount u of the motor 8 is output to the dynamic vibration reducer 3. As a result, the dynamic vibration reducer 3 moves the additional mass 6 to perform the vibration damping operation.

When an abnormal signal indicating the occurrence of a system abnormality is input in S1, the process proceeds to S5, the controlled variable u is set to 0, and u = 0 is output to the dynamic vibration absorber 3 in S4. In that case, the dynamic vibration reducer 3 does not perform the vibration damping operation and stops.

Further, the CPU 23 executes the processing of S1 to S5 at a preset predetermined time interval (for example, every 5 ms) and outputs the control amount u.

Here, the temperature correction processing which constitutes the main part of the present invention will be described with reference to FIG.

In FIG. 8, in S11, the temperature sensor 15
The temperature of the structural material 16 detected by (15 ₁ to 15 ₅ ) is read. Then, the above-mentioned temperature correction table 23c
Reading the offset C _of offset K _of and damping coefficient of the spring constant corresponding to the temperature from (S12).

In the next step S13, assuming that the spring constant and damping coefficient of each floor of the mathematical model of the building 2 similarly change due to the temperature change, the spring constant K _na1 of each floor of the mathematical model when the structural material 16 is at room temperature. ~ K _naN , damping coefficient C _na1 ~ C _naN
If, obtains each floor spring constant K _s1 ~K _sN mathematical model from the offset C _of offset K _of and damping coefficient of the spring constant obtained above S12, the damping coefficient C _s1 -C _sN as follows.

K _s1 = K _na1 + K _of C _s1 = C _na1 + C _of K _s2 = K _na2 + K _of C _s2 = C _na2 + C _of ↓ ↓ K _sN = K _naN + K _of C _sN = C _naN + C _of From the spring constants K _{s1 to} K _sN and the damping coefficients C _{s1 to} C _sN that have been temperature-corrected based on the temperature of the structural material 16, the K _s matrix _{and the} C _s matrix are _obtained by the aforementioned equations (6) and (7).

Then, in the next step S14, the A matrix is obtained from the K _s matrix _{and the} C _s matrix obtained in the above step S13 by the equation (3), and the positive definite solution P is obtained by the Riccati equation of the equation (11). Then, the state feedback gain vector F that minimizes the evaluation function J is obtained by the above equation (12).

Then, the CPU 23 uses the control theory as described above to obtain the state feedback gain vector F obtained in S14 and the vibration state detection sensors 14 (14 _{1 to} 14).
Based on the displacement detection signal X of the building 2 from ₅ ), the control amount u is obtained.

In this way, the temperature correction table 23c is registered.
Offset K of spring constant corresponding to the recorded temperature_of
And the offset C of the damping coefficient_ofBased on the spring constant of each floor
Number K _s1~ K_sN, Damping coefficient C_s1~ C_sNBy correcting
Control according to the actual spring constant and damping coefficient of the structural material 16.
The amount u can be calculated. Therefore, for example, structural materials
As in the case of 16 temperature rise,
As the number becomes smaller and the control amount suppresses the vibration of the building 2,
The target value has been exceeded, and vibration cannot be controlled and control is lost.
Or when the temperature of the structural material drops,
The spring constant and damping coefficient increase, and the control amount vibrates the building.
Is less than the target value required to suppress
You can eliminate the inconvenience that you can not get the result
It

Further, the temperature correction table 23c of the above embodiment
Is for averaging the change amounts of the spring constant and damping coefficient of each floor of the mathematical model of the structure due to the temperature change of the structural material 16 by the number of floors, but is not limited to this, and for example, for the mathematical model of the structure, The spring constant and damping coefficient for all floors may be registered.

In this case, in S13, the spring constants K _{s1 to} K _{sN of the respective} floors are calculated from the spring constant offset K _of and the damping coefficient offset C _of assuming that the floors of the mathematical model of the structure are similarly changed. Attenuation coefficient C _{s1 to} C _sN , m
_{While h} was obtained, more accurate spring constants K _{s1 to} K _sN ,
The damping coefficients C _{s1 to} C _sN are obtained, and the state feedback gain vector F suitable for the temperature environment at that time is obtained.

Further, in the above embodiment, a plurality of temperature sensors 1 are used.
The temperature correction was performed based on the average value of the detection signals from 5 (15 ₁ to 15 ₅ ), but the present invention is not limited to this.
5 (15 ₁ to 15 ₅₎ the spring constant K _s1 of each floor based on the detection signal from ~K _sN, it may be obtained damping coefficient C _s1 -C _sN.

In this case, as shown in FIG. 9, the temperature correction table in which the spring constants K _{s1 to} K _sN and the damping coefficients C _{s1 to} C _sN at each floor of the mathematical model of the structure in the structure material 16 at each floor are registered. Prepare 24 (24 _{1 to} 24 _N ) for each floor. As a result, a more accurate spring constant and damping coefficient can be obtained even in a structure in which the temperature, spring constant, and damping coefficient of the structural material 16 fluctuate significantly with each floor, and an appropriate state feedback gain suitable for the structure of the building 2 can be obtained. The vector F is obtained.

In the above embodiment, the vibration damping device for damping the building 2 is given as an example. However, 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.).

[0057] Also, the above embodiment is acceptable to provide a temperature sensor 15 (15 ₁ to 15 ₅₎ to a plurality of floors of the building 2 is not limited to this, for example, of buildings 2 intermediate floors or on the top floor Only one temperature sensor may be installed, or one temperature sensor may be installed on each of the south side and the north side of the building 2.

In the above embodiment, the temperature sensor 15 (1
5 ₁ to 15 ₅ ) have been described as being attached to a structural member made of steel frame, but the present invention is not limited to this, and even if a temperature sensor is attached to a portion that is a main constituent of the structure, for example, a concrete wall or the like. good.

[0059] Further, in the above embodiment, using the displacement sensor in the vibration state detection sensor 14 _{1-14 5,} the displacement of the building 2 by the displacement sensor, velocity, and detects the acceleration,
A displacement sensor, a speed sensor, and an acceleration sensor may be provided to detect the displacement, speed, and acceleration of the building 2 to detect the vibration state of the building 2.

[0060]

As described above, the damping device according to the present invention is
The temperature of the structural material that constitutes the structure is detected, and the control amount for the actuator that moves the additional mass is corrected according to the detected value. It is possible to suppress the vibration of the structure by calculating the control amount according to the spring constant and damping coefficient of the material.
Even in a structure constructed in a place where the temperature changes drastically, the additional mass can be moved so as to obtain a more damping effect without being affected by the temperature change.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an embodiment 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 vertical sectional view for explaining a mounting structure of a temperature sensor.

FIG. 5 is a block diagram of a CPU and a temperature correction table.

FIG. 6 is a diagram showing a mathematical model of a building and a dynamic vibration absorber.

FIG. 7 is a flowchart for explaining a process executed by the CPU of the vibration damping device.

FIG. 8 is a flowchart illustrating a temperature correction process executed by a CPU of the vibration damping device.

FIG. 9 is a diagram showing a temperature correction table for each floor.

[Explanation of symbols]

1 damping device 2 Building 3 dynamic vibration absorber 6 additional mass 8 AC servomotor 14 (14 ₁ to 14 ₅₎ the vibration state detection sensor 15 (15 ₁ to 15 ₅₎ temperature sensor 23 CPU 23c, 24 temperature correction table

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tetsuo Suzuki 4-640 Shimoseido, Kiyose-shi, Tokyo Inside Obayashi Institute of Technology Co., Ltd. (72) Inventor Takahide Kobayashi 1-3-6 Fujimi, Kawasaki-ku, Kanagawa Prefecture Tokiko Within the corporation

Claims (1)

[Claims] 1. A calculation means for calculating a control amount based on an output value from a sensor for detecting a vibration state of a structure,
In a vibration damping device that damps an additional mass by driving an actuator according to a control amount output from the computing means, to detect the temperature of a structural material that constitutes the structure. A vibration damping device comprising: a temperature correction unit that corrects a control amount output from the calculation unit according to a detection value from the temperature detection unit.