JPH0754520A - Damping device for structure - Google Patents

Abstract

PURPOSE:To reduce the thickness and other sizes of a whole device by arranging a frame and a damping mass in parallel with each other and vibrating a horizontally and magnetically levitating mass by a driving device controlled by a control device in horizontal direction. CONSTITUTION:A structural body 1 is vibrated by earthquake, wind, etc., a control device 4 transmits control signals to a drive device 5 with detection signals of a vibration detection sensor 2, and a damping mass 3 is vibrated horizontally. Next the vibration energy is transmitted from a permanent magnet 13 installed on the mass 3 to a frame 6 through a magnet 12 on the frame 6 side for transmitting the energy to the structural body 1. In this case, the mass 3 is vibrated in the direction at right angle to the direction of magnetic levitating flux, and the levitating magnetic flux of the mass 3 is made non-resistant to the vibration of the mass 3 to actively suppress the vibration of the structural body 1.

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 for early dampening the vibration of a structure due to an earthquake or wind.

In a conventional vibration damping device, a mass such as a vibration damping mass is supported by a damper such as a bell structure, a pendulum structure or laminated rubber, and the vibration energy of the mass is transmitted to the structure through the supporting structure. By transmitting it, the damping effect is obtained.

In order to give a large amount of vibration energy to the structure by the vibration control device of the hanging bell structure, the mass itself must be large, and in the vibration control device of the pendulum structure, the vibration energy can be efficiently distributed. In order to give vibration energy to a structure in a vibration damping device for a damper such as laminated rubber, the length of the damper must be sufficiently long to give the vibration energy to a structure. Will be needed.

That is, in the conventional vibration damping device, the device itself occupies a large space, which requires a large space especially in the height direction. As a result, a space equivalent to about one floor of the structure is occupied by the device, which substantially increases the cost of the structure and is difficult to install in the existing structure. It was

In the active vibration damping device disclosed in Japanese Unexamined Patent Publication No. 2-54071, a rail is laid along the swinging direction of a structure, and a mass is mounted on a carriage mounted on the rail.
A ball screw is connected to a drive motor disposed on the terminal side of the rail, and the dolly is connected to the ball screw via a nut body that converts the rotational movement of the ball screw into a linear movement.

However, in such a support structure,
Since the total weight of the bogie and the mass acts on the rail, and the frictional resistance between the rail and the bogie is large, it is necessary to incorporate a large and high-power drive motor. There were great restrictions on thinning and miniaturization.
Therefore, it is unsuitable for installation in a small-to-medium-sized structure, even if it is a large-scale structure with a relatively large installation space.

In the conventional system configuration of the vibration damping device, a sensor for detecting the vibration of the structure, a driving device for driving the mass, and a control device for controlling the operation of the driving device are provided independently. Computers for optimal control are prepared in the form described above, and each is connected by a cable.

In the conventional device, since the structure of the driving device itself is very large, the sensor, the control device, and the computer must be independent of each other and must be installed in a place distant from the installation place of the driving device. There are many. As a result, the cable wiring between each component becomes large and complicated, and it is difficult to make the entire system compact. The cable exposed outside the device has a high risk of disconnection and accidental disconnection of the connector, and has poor electrical reliability and durability.

The conventional vibration damping device is a device installed on the top floor of the structure or on a floor close to the top floor, for damping the vibration of the entire structure in the first natural period. However, in most cases, a structure has a second or higher eigen period other than the first eigen period of the entire structure. In recent years, in office buildings such as intelligent buildings, computer rooms for collecting and managing various data, measurement rooms and control rooms that are sensitive to vibrations are currently in various levels inside the structure.

Therefore, when the conventional damping device operates, even if the vibration of the primary natural period of the entire structure is reduced,
With respect to the vibration of each floor inside the structure, the vibration is not always reduced. In addition, the conventional vibration damping device occupies a large space by itself, and since it is difficult to make the entire system compact and the wiring between the devices is long and complicated, one structure has multiple floors. It was difficult to install a vibration control device and perform optimum control independently for each hierarchy.

In the conventional control method of the control device, the vibration signal from the sensor is digitally converted into a high-precision, high-digit number value, and numerical analysis is performed using an independent computer in accordance with the optimal control theory. We are trying to optimize the vibration control of the.

However, since this optimal control theory is complicated in arithmetic processing, the arithmetic processing is performed by software using a general-purpose computer in a state independent of the control device of the vibration damping device. Since there is a slight time lag until the control device receives the control signal in response to the vibration signal from the sensor, the mass control becomes intermittent.

As described above, since the signal processing time is long and full-time control cannot be performed, the possibility of vibration suppression is low for non-stationary waves such as seismic waves, and signals that do not depend on optimal control theory are generated. It was not applicable when it was entered.

Further, in the conventional vibration damping device using the servo motor as a driving device for driving the mass, in order to transmit the vibration energy to the structure, as described above, the bell structure, the pendulum structure or the laminated rubber damper is used. Supports trout.

In the conventional vibration damping device using such a support structure, it is necessary to consider friction torque and the like in addition to load torque and acceleration torque in the servo motor. Moreover, since the friction torque between the mass and the support changes greatly depending on the natural period and rigidity of the structure, it is necessary to design after calculating a large safety factor, and to vibrate the mass at high speed. A high output motor is required.

However, since the existing servomotor has a limit of output, the high-speed response to the vibration of the mass tends to deteriorate. Therefore, it is difficult to deal with non-constant waves such as seismic waves. In addition, as the motor output increases, the production cost increases and the drive device itself also increases in size.

Further, in the conventional vibration damping device, since the independent general-purpose computer performs the complicated arithmetic processing of the optimal control theory as described above, until the control device receives the control signal in response to the vibration signal from the sensor. There is a slight time difference between the two, and because the existing servomotor has a limit of output, the high-speed response to the vibration of the mass tends to deteriorate, so the transmission time of the entire system is slow,
Therefore, intermittent control is performed.

As described above, in the conventional vibration damping device, the control method for optimally controlling the mass is intermittent control, and the acceleration / deceleration reaction (response acceleration) of the drive device is slow, so that the device is structured. When installed on an object, the natural period of the structure and the natural period of the drive unit are tuned, and based on the natural period, an intermittent vibration solution is obtained using optimal control theory, and a method of controlling the vibration of the mass is provided. I am taking it. However, it was difficult to control the mass optimally for non-stationary wave signals such as seismic waves.

Further, in such a system in which the natural period of the structure and the natural period of the driving device are synchronized and controlled, the natural period of the structure is accurately calculated, and the mass of the mass and the constant of the damper are set at the time of installation. Need to be configured. However, in the case of a structure, there are cases where it is difficult to accurately calculate the natural period itself, and the function / role of the structure has changed, such as partial repair / remodeling of the structure. In that case, the overall mass and rigidity of the structure may change,
It is necessary to regularly maintain the mass of the mass and the constant of the damper in the equipment.

[0020]

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to make it possible to reduce the thickness and size of the entire apparatus, so that it is not necessary to prepare a room dedicated to the apparatus, and the existing room can be used for the existing structure. An object of the present invention is to provide a vibration damping device that can be installed while maintaining a space.

A further object of the present invention is that an independent computer is not required and an integrated and very compact system configuration is possible. In addition, since the wiring is concentrated inside the device, disconnection of the cable and disconnection of the connector are possible. It is an object of the present invention to provide a vibration damping device with a very low risk of accidents and good electrical reliability and durability of the entire system.

Another object of the present invention is not only to suppress the vibration of the entire structure, but also to control the inside of the structure, such as a room or a floor, which is particularly susceptible to vibrations, with independent vibration. It is to provide a shaking device.

Still another object of the present invention is that there is a high possibility that vibration will be suppressed even for non-constant waves such as seismic waves, and that a signal that does not depend on the optimal control theory will be input. It is to provide an applicable vibration damping device.

Further, the object of the present invention is to improve the high-speed response of the mass by reducing the friction torque of the servo motor, and it is possible to deal with non-constant waves such as seismic waves, and a sufficient damping effect can be obtained. The purpose is to provide an obtained vibration damping device.

A further object of the present invention is that the transmission time of the control system is very short, control can be performed almost on-time, and the drive device instantly responds to the obtained vibration solution. Since it is a controllable system, it is possible to cope with non-stationary waves such as seismic waves, and to provide a vibration damping device that can obtain a sufficient vibration damping effect.

Still another object of the present invention is that there is no need to adjust the natural period when the structure is installed in the structure, the calculation of the natural period of the structure is unnecessary, and the mass and rigidity of the structure change. Is to provide a vibration damping device that does not require maintenance such as adjustment. Ru

[0027]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The following is a description with reference to the reference numerals in the accompanying drawings. The gist of the vibration damping device of the present invention is that the frame 6 and the vibration damping mass 3 are arranged in a parallel relationship and in a horizontal state. That is, the mass 3 magnetically suspended in the horizontal direction is vibrated in the horizontal direction by the driving device 5 whose operation is controlled by the control device 4. Such a support structure for the mass 3 can be applied to both an active control device and a passive vibration control device.

[0028]

In the active type vibration damping device of FIG. 1, when the structure 1 vibrates due to an earthquake or wind, the control device 4 generates the control signal of the driving device 5 based on the detection signal of the vibration detection sensor 2, 3 is vibrated in the horizontal direction by the drive device 5 so as to be in the opposite phase to the movement of the structure 1, and positively suppresses the vibration of the structure 1. Since the vibration of the mass 3 is performed in a direction that cuts the magnetic flux for magnetic levitation at a right angle,
The floating magnetic force of the mass 3 does not become a resistance factor against the vibration of the mass 3.

In the passive type vibration damping device of FIG. 2, when the structure 1 vibrates due to an earthquake or wind, the mass 3 is moved in the horizontal direction with respect to the structure 1, and the mass 3 and the spring 14 are moved.
The vibration energy of the construct 1 is absorbed by the mass system including the damper 15 and the response of the construct 1 is suppressed. Since the movement of the mass 3 is performed in a direction that cuts the magnetic flux for magnetic levitation at a right angle, the magnetic force for levitation of the mass 3 does not become a resistance force against the movement of the mass 3.

[0030]

In the embodiment shown in FIG. 1, the frame 6 of the vibration damping device is installed on the roof of the structure 1 and fixed to the frame of the structure 1. The permanent magnet 12 fixed to the lower side portion 6a of the frame 6 and the permanent magnet 13 fixed to the lower portion of the mass 3
Are arranged so that the same poles face each other, and magnetic levitation of the mass 3 is performed by balancing the magnetic repulsive force between the permanent magnets 12 and 13 with the gravity of the mass 3.

Two right and left supports 8 and 9 are fixed to the upper side portion 6b of the frame 6 at regular intervals in the longitudinal direction of the frame 6, and the right support 9 is a drive unit formed of a servo motor. 5 are supported. A bearing block 11 is fitted to the left end portion of a ball screw 17 connected to the output shaft by a coupler 16.
Is supported by a support 8 on the left side.

A nut body 18 is fitted in the ball screw 17, and a fixing holder 10 for the vibration damping mass 3 is fixed to the lower portion of the nut body 18. The frame 6 is provided with a pair of front and rear rails 7 parallel to the ball screw 17, and the holder 10 is slidably engaged with and held by the rails 7 at both ends. Therefore, the nut body 18 and the holder 10 cannot rotate with respect to the frame 6.

A roller or a ball bearing is inserted between the holder 10 and the rail 7 to reduce frictional resistance. Ball screw 1 by servo motor of drive unit 5
When 7 is rotated, this rotational movement is converted into linear movement by the nut body 18, and the mass 3 vibrates in the longitudinal direction of the frame 6. The frame 6 is installed so as to be aligned in the direction of vibration to be damped.

A computer for optimally controlling the drive unit 5 is incorporated in the control unit 4 in a form stored in a memory holding means such as a ROM. The sensor 2 for detecting the vibration of the structure 1 and the control device 4 are installed in the frame 6 together with the drive device 5, and the cable wiring between these respective constituent devices is provided only inside the device.

When the mass 3 vibrates in the horizontal direction, the vibration energy is transmitted from the permanent magnet 13 mounted on the mass 3 side to the frame 6 via the permanent magnet 12 mounted on the frame side, and finally. The vibration energy of the mass 3 is transmitted to the structure 1.

In the embodiment shown in FIG. 2, the frame 6 of the vibration damping device is installed on the roof of the structure 1 and fixed to the frame of the structure 1. The permanent magnet 12 fixed to the lower side portion 6a of the frame 6 and the permanent magnet 1 fixed to the lower portion of the mass 3
3 are arranged so that the same poles face each other, and magnetic levitation of the mass 3 is performed by balancing the magnetic repulsive force between both magnets and the gravity of the mass 3. A coil spring 1 is compressed between the left side portion of the frame 6 and the mass 3 along the longitudinal direction of the mass 3.
4 is inserted.

In the active type vibration damping device shown in FIG. 1, when a motor having a structure in which the brake is released when the power is turned off and free operation is used as the driving device 5, connect a coil spring in the longitudinal direction of the mass 3. By this, it is possible to shift to a passive type vibration damping device.

In each embodiment, as the magnetic levitation means of the mass 3, an electromagnet may be used instead of the permanent magnet, or a permanent magnet and an electromagnet may be used in combination. If the problem of responsiveness is solved, a hydraulic actuator or the like can be used instead of the servo motor. The installation place of the vibration damping device is not limited to the upper part of the structure, and it can be installed in the lower part or the middle part, and the installation direction and the number of units can be appropriately changed according to the structure.

[0039]

As described above, in the vibration damping device of the present invention, the frame 6 and the vibration damping mass 3 are arranged in a parallel relationship, and the mass 3 magnetically suspended in a horizontal state is vibrated in the horizontal direction by the driving device 5. By adopting such a support structure, the frame 6 and the mass 3 can be designed to be extremely thin and small, and as a result, the entire device can be made significantly thin and small. Especially, a large space is unnecessary in the height direction.

Therefore, unlike the conventional apparatus, it is not necessary to prepare a room dedicated to the apparatus, and the cost of the structure 1 is not increased. Since it can be installed under the ceiling, under the floor, or inside the floor of the structure 1, even for existing structures,
It can be installed while maintaining the conventional room space.

Further, in the vibration damping device of the present invention, there is no resistance when the mass 3 is vibrated in the horizontal direction, and the load of the driving device 5 is greatly reduced. It is possible from the viewpoint of the device, and it can be installed in a small-to-medium-sized structure without a large restriction in terms of occupied space.

In the vibration damping device of the present invention, the computer for optimally controlling the driving device 5 is incorporated in the control device 4 in the form of being stored in a memory holding means such as a ROM.
There is no need to install an independent computer, and since the sensor 2, control device 4, and drive device 5 are installed on the frame 6, the entire system is closed and a very compact integrated system configuration is possible. Furthermore, since the wiring of cables between the components is housed inside the equipment, the risk of cable disconnection and connector disconnection is extremely low, and the electrical reliability and durability of the entire system are good. A shaking device is obtained.

In the vibration damping device of the present invention, as described above, it is constructed to be extremely thin and small, and it can be installed under the ceiling or under the floor of the floors or on the floor itself, and the whole system is closed, Since an integrated and compact system configuration is possible, even when a plurality of systems are installed in independent hierarchies, optimal control can be performed independently for each hierarchy. Therefore, in addition to damping the entire structure, it is possible to independently control the inside of the structure, especially for rooms and floors where vibration is disliked.
A vibration control device having multiple degrees of freedom can be obtained.

Further, in the vibration damping device of the present invention, the customized dedicated integrated circuit and software for fuzzy control are stored in the memory holding means such as the ROM to be incorporated in the control device 4 to obtain the signal. Since the processing time has been shortened and a control method that allows full-time control of vibrations has been realized, there is a high possibility of damping even non-stationary waves such as seismic waves, and optimal control is possible. A damping device that can be applied even when a signal that does not depend on theory is input is obtained.

Further, in the vibration damping device of the present invention, the mass 3 is magnetically suspended and supported as described above, and the frictional resistance between the mass 3 and the support is reduced to zero, so that the servo motor of the drive unit 5 is driven. Since the friction torque of the above can be reduced and the response of the mass to acceleration and velocity is large, it is possible to deal with non-stationary waves such as seismic waves, and a sufficient damping effect can be obtained.

Further, in the vibration damping device of the present invention, the signal processing time can be reduced by incorporating the integrated circuit and software for fuzzy control in the storage unit such as ROM as described above in the form of being stored in the control unit 4. Shortened, full-time control for vibration, and improved mass acceleration response by reducing the friction resistance of the servo motor.
The transmission time of the control system is very fast, almost on-time control is possible, and the full-time control system in which the drive device responds instantly to the obtained vibration solution is adopted. It is possible to deal with non-stationary waves such as, and a sufficient damping effect can be obtained.

Since the vibration damping device of the present invention is a system capable of full-time control as described above, it is not necessary to adjust the natural period when the vibration damping device is installed in a structure. Therefore, it is not necessary to calculate the natural period of the structure, and as a result, it is possible to easily install the structure in an existing structure. Also,
Even if the mass or rigidity of the structure changes for some reason, maintenance such as adjusting the mass of the mass in the apparatus is not necessary. It is also applicable to the case where the vibration of the structure includes high-order vibration other than the first-order natural period.

When the structure is a brick structure or a historic building such as a cultural property, it is often impossible to calculate the natural period. With the vibration damping device of the present invention, however, the natural period can be calculated. Since the device itself is unnecessary, it becomes possible to easily install the vibration damping device even in those fields where the conventional device cannot be applied.

[Brief description of drawings]

FIG. 1 is a schematic front view of a structure in which a vibration damping device according to an embodiment of the present invention is installed on a rooftop.

FIG. 2 is a schematic front view of a structure in which a vibration damping device according to another embodiment of the present invention is installed on a rooftop.

FIG. 3 is a schematic front view of a structure in which the vibration damping device according to the embodiment of the present invention is installed on the ceiling of an intermediate floor.

[Explanation of symbols]

 1 Structure 2 Vibration Detection Sensor 3 Mass 4 Drive Control Device 5 Drive Device 6 Frame 6a Frame Lower Side 6b Frame Upper Side 7 Rail 8 Support 9 Support 10 Holder 11 Bearing Block 12 Frame Side Permanent Magnet 13 Mass Side Permanent magnet 14 Spring 15 Damper 16 Coupler 17 Ball screw 18 Nut body

Front page continuation (72) Inventor Tetsuro Ono 2-6-3 Otemachi, Chiyoda-ku, Tokyo Within Nippon Steel Corporation (72) Inventor Hideaki Kinko 4-4-11, Nihonbashihoncho, Chuo-ku, Tokyo Nikkoshi Within the corporation

Claims (4)

[Claims] 1. In an active-type or passive-type damping device, a frame and a damping mass are arranged in a parallel relationship, and the mass that is magnetically suspended in a horizontal state is controlled by a driving device controlled by a controller. Vibration control device for structures that vibrate horizontally. 2. The control according to claim 1, wherein the magnetic repulsive force between the permanent magnets mounted on the frame side and the permanent magnets mounted on the mass side and the gravity of the damping mass are balanced with each other to magnetically suspend the mass. Shaking device. 3. The computer according to claim 1, wherein a computer for controlling the operation of the drive unit is incorporated in the control unit by storing it in a storage means such as a ROM, and a sensor for detecting the vibration of the structure is installed in the frame. The vibration damping device according to Item 2. 4. The vibration damping device according to claim 1 or 2, wherein a customized dedicated integrated circuit for fuzzy control and software are incorporated in the control device in a form of being stored in a memory holding means such as a ROM. apparatus.