JPH0819781B2 - Vibration control method and device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION << Industrial Application Field >> The present invention relates to an earthquake and a structure based on input from a power means when damping a long-periodic structure by a vibration damping force applied from a power means such as an actuator. Detect the response of the object,
The present invention relates to a vibration damping method and device for feedback controlling the expansion / contraction displacement amount of a power unit based on the response of the structure.

<< Conventional Technology >> Various vibration control methods have been devised for controlling the shaking of structures against earthquake motions and the like. For example, the power of an actuator or the like that expands and contracts in the direction of ground motion between the structure and the ground supported through a lengthening means such as an isolator made of laminated rubber on the ground or a sliding bearing composed of rollers. It was thought to provide a means to this means for generating a damping force in the direction opposite to the seismic motion, to insulate the structure from the moving ground and to keep the structure at a constant position as much as possible. Vibration control mechanism is known (Abstracts of Scientific Lectures at Architectural Institute of Japan (Kinki)
(October 1987) p.905-906 etc.).

Here, the applicant of the present invention relates to the coupling structure between the power means and the structure or the ground in the vibration control mechanism, and the oscillation of the control system when the operation delay of the power means with respect to the transmitted control signal or the feedback control is adopted. Etc.,
It is considered that a vibration damping device is constructed by attaching elastic means to the power means in the power transmission direction.

That is, the power means causes an extreme operation delay with respect to the transmitted control signal, particularly the high frequency component in the signal, but when the power means and the structure are directly coupled, the operation of the power means is delayed. Is not damping, but on the contrary there is a risk of amplifying the shaking of the structure. On the other hand, when the elastic means is attached, the behavior of the power means corresponding to the high frequency component can be cut by the elastic means, and even if the power means acts in the opposite direction to the vibration suppression, the behavior of the elastic means can be controlled by the elastic means. It is possible to suppress the adverse effect of the operation delay of the power means.

Further, in the feedback control, if the feedback signal detected from the structure and used for the control contains a high frequency component, it causes oscillation of the control system, but it is detected in the structure by the intervention of the elastic means. It is possible to cut high-frequency components from the signal, improve control stability, and allow the power means to exert a sufficient damping effect.

By providing the elastic means in this way, the vibration of the structure is amplified by the power means which should respond to the high-frequency component contained in the control signal and impart the damping force,
We are considering a vibration damping mechanism that can prevent the power unit from failing to exert a sufficient vibration damping action due to the oscillation of the control system.

<< Problems to be Solved by the Invention >> However, in the vibration system in which the elastic transmission means is interposed in the force transmission system of the power means in which the seismic force and the damping force interact with each other in this manner, the elastic transmission means is not provided. Unlike the vibration system, a preferable vibration damping effect cannot be obtained unless the power means is properly controlled in consideration of the presence of the elastic means. For this reason, it is desired to devise an appropriate vibration damping control method and its device in a vibration system including such elastic means.

An object of the present invention is to provide a force transmission system of a power means with which a seismic force and a vibration damping force interact with each other, so as to suppress a long-period structure with a vibration damping force applied from the power means. Another object of the present invention is to provide a vibration damping control method and apparatus suitable for a vibration system including an elastic means.

<< Means and Actions for Solving the Problem >> The present invention has a resilient means that resiliently pushes a structure supported on the ground through a lengthening means in the force transmission direction, and relatively displaces each other. When vibration is controlled by power means that is driven to expand and contract between these structures and the ground to transmit damping force to the structure, the response of the structure due to seismic motion and input from the power means is detected, and this structure is detected. The expansion / contraction displacement amount of the power means is feedback-controlled according to the response of.

Then, by controlling the expansion / contraction displacement amount of the power means by feedback control after considering the presence of the elastic means,
Vibration suppression control is made to take advantage of the function of the elastic means.

Further, the present invention is provided between the ground and a structure supported on the ground through a lengthening means, and the structure is controlled by expanding and contracting between the ground and the structure which are displaced relative to each other. Power means for transmitting vibrational force, elastic means attached to the power means and elastically in the direction of force transmission, detection means for detecting seismic motion and response of the structure due to input from the power means, and detection from the detection means It is configured with a control means for feedback-controlling the expansion / contraction displacement amount of the power means in response to a signal, and while utilizing the function of the elastic means, the vibration suppression control is performed by controlling the expansion / contraction displacement of the power means based on the response of the structure. I am supposed to do it.

<< Examples >> Hereinafter, preferred examples of the present invention will be described in detail with reference to the accompanying drawings.

As shown in the figure, on the ground 2 in which the recesses 1 are formed, the structures 4 are continuously provided in the recesses 1 by being supported via the lengthening means 3 and the structures 4 have a long cycle. The conversion means 3 lengthens the period. In the present embodiment, as the lengthening means 3, a plurality of laminated rubbers having an appropriate height and arranged in the recess 1 at intervals are illustrated. The lengthening means 3 is not limited to the laminated rubber, and a sliding support material, a bearing, a soft strip, a magnetic levitation means, etc. may be adopted.

Between the structure 4 and the ground 2 configured in this way,
A power unit 5 such as a hydraulic cylinder is provided which is driven to expand and contract between the structure 4 and the ground 2 which are displaced relative to each other in the event of an earthquake to transmit a damping force to the structure 4.
Specifically, the power means 5 is provided substantially horizontally between the vertical wall 1a of the concave portion 1 on the ground 2 side which is relatively displaced and the lower layer portion of the structure 4 facing the vertical wall 1a. Further, a plurality of the power means 5 are arranged around the structure 4 with a space therebetween so as to cope with earthquakes of various directions.

The power means 5 is fitted with a resilient means 6 such as a spring that resiliently moves in the force transmitting direction. In the illustrated example, the elastic means 6 is mounted between the power means 5 and the structure 4, but if it is in the force transmission direction, the power means 5 and the recess vertical wall 1a on the ground 2 side May be between.
The elastic means 6 is driven by the power means 5 in response to the high frequency component contained in the control signal so that the vibration of the structure 4 is amplified by the power means 5 which should give a damping force, or by the oscillation of the control system. It serves to prevent the means 5 from failing to exert sufficient damping action.

On the other hand, in the structure 4, a detecting means 7 for detecting a response of the structure 4 due to an earthquake motion and an input from the power means 5 is arranged. A control means 9 such as a computer is connected to the detection means 7 via an amplifier 8 for amplifying the detection signal. The control means 9 is connected to the power means 5, and the power means 5 is responsive to the detection signal from the detection means 7.
It has a function of feedback controlling the expansion and contraction displacement amount of.
That is, the response of the structure 4 due to the action of the earthquake motion and the action of the power means 5 is always detected by the detection means 7, the detected amount is processed by the control means 9, and the control signal is always returned to the power means 5. It has become. The amplifier 8 and the control means 9 may be installed in the structure 4 as shown in the drawing or on the ground 2 side.

Here, the concept of the damping method of the present invention, the point that the expansion and contraction displacement amount of the power means 5 is adopted as the control amount of the control means 9, and the point that the feedback control is adopted will be described.

With regard to the present invention, a peculiar control function corresponding to the damping system including the elastic means 6 is set in the control means 9, and the expansion and contraction displacement amount of the power means 5 is controlled based on this control function to suppress the vibration. To achieve.

The basic vibration equation in the case of suppressing the sway of the structure 4 by the ground motion at the time of an earthquake by applying the control force of the power means 5 to the structure 4 supported by the lengthening means 3 is as follows. Expressed in.

m + c + kx = -m + F (1) m: mass peculiar to the structure 4 c: damping coefficient peculiar to the structure 4 k: elastic coefficient of the lengthening means 3: relative acceleration of the structure 4 to the ground 2: structure 4 Relative velocity of the structure 4 with respect to the ground 2: Relative displacement of the structure 4 with respect to the ground 2: Ground acceleration F: Control force of the power means 5 Here, as the response amount of the structure 4 by the action of the earthquake motion and the input from the power means 5, There are displacement x, velocity, and acceleration. Further, in consideration of the above-mentioned vibration system, there are various quantities that can change the vibration characteristics of the structure 4 such as the mass specific to the structure 4.
m, the damping coefficient c peculiar to the structure 4, and the elastic coefficient k of the lengthening means 3. In the present invention, when the response of the structure 4 is detected and these detected amounts are processed by the control system, various amounts capable of changing these vibration characteristics by setting an appropriate control function are appropriately set in the control system. By changing
The vibration characteristics of the structure 4 are changed to suppress the vibration. Here, (I) when changing the damping force of the vibration system using the response speed of the structure 4, (II) when changing the elastic force of the vibration system using the response displacement x of the structure 4, and (III) A case where the mass of the vibration system is changed by using the response acceleration of the structure 4 will be described.

First, considering the above-mentioned structure, since the elastic means 6 is provided in the force transmission system of the power means 5, the content of the control force F of the power means 5 of the formula (1) should be rewritten as follows. You can

F = ka (z−x) (2) ka: elastic coefficient of elastic means z: expansion / contraction displacement of power means Here, the expression (2) is substituted into the expression (1). At this time, if the ground motion displacement y and the relative displacement x of the structure 4 with respect to the ground 2 are superposed, the absolute response displacement (x + y) and the absolute response speed (+) of the structure 4 with respect to the stationary system (absolute system) are arranged. , Like this:

m (+) + c (+) + (k + ka) (x + y) = c + (k + ka) y + kaz (3) In the expression (3) thus expressed, kaz on the right side, which is the term of the external force, is the elastic means 6. Is the effect of installing. Here, regarding the term of the force given by kaz corresponding to (I), considering the case where the term of this force is given as a control amount for changing the damping force of the vibration system, the structure 4
It can be expressed as follows using the absolute response speed of.

kaz = −ca (+) ca: damping coefficient given by control means 9 When this equation (4) is substituted into the above equation (3) and rearranged, it is expressed as follows. Compared with the equation (3), the effect that the vibration characteristic of the structure 4 is changed is given.

m (+) + (c + ca) (+) + (k + ka) (x + y) = c + (k + ka) y (5) Similarly, with respect to the force term given by kaz in correspondence with (II), this force Considering the case in which the term is given as a control amount for changing the elastic force of the vibration system, it can be expressed as follows using the absolute response displacement of the structure 4.

kaz = -kb (x + y) kb: Repulsion coefficient given by the control means 9. When this equation (6) is substituted into the above equation (3) and rearranged, it is expressed as follows. Compared with the equation (3), the effect that the vibration characteristic of the structure 4 is changed is given.

m (+) + c (+) + (k + ka + kb) (x + y) = c + (k + ka) y (7) Similarly, in order to change the force term of kaz corresponding to (III) to change the mass of the vibration system. Considering the case of being given as the control amount of, the absolute response acceleration of the structure 4 can be expressed as follows.

kaz = −ma (+) ma: mass given by the control means 9 By substituting this equation (8) into the above equation (3) and rearranging it, the following expression is obtained. Compared with the equation (3), the effect that the vibration characteristic of the structure 4 is changed is given.

(M + ma) (+) + c (+) + (k + ka) (x + y) = c + (k + ka) y (9) In this way, corresponding to the force term kaz (4),
By introducing the control function shown in the equations (6) and (8) into the control system, the change of the vibration system shown in the equations (5), (7) and (9) is ensured. It is possible to exert a damping effect from the aspect of changing the vibration system. In particular,
Equation (5) is to add a damper to the structure 4 to exert the effect of suppressing the co-vibration width, and (7),
Expression (9) exerts the effect of changing the natural period of the vibration system to shift the period of the structure 4 from a specific period band.

If necessary, these (4), (6), (8)
It goes without saying that the control system may be configured by appropriately combining the expressions.

Further, as a method of detecting the response of the structure 4 and giving a control function peculiar to the control system to suppress the vibration, the following may be performed. That is, in the above equation (3),
The left side shows the vibration characteristics in the absolute system of the above structure, and the right side shows the content of the external force. Then, in order for the absolute response of the structure 4 to become zero, the content of the right side, that is, the term of the external force, should be zero. Therefore, when the equation (3) is set to the right side = 0, and is arranged by the expansion / contraction displacement amount z of the power unit 5, it is expressed as follows.

This is a controlled variable that can make the structure 4 stand still with respect to the absolute system. If this value z is equal to the absolute response of the structure 4, the expansion / contraction displacement amount z of the power means 5 at that time can maintain the structure 4 at a constant position regardless of ground motion (absolute vibration suppression). State). Since feedback control is performed in the actual control, this z
Is introduced into the control as the actual expansion / contraction displacement amount of the power means 5, and the control is performed based on these values z and the response amount of the structure 4. Therefore, this value z is set to za for actual control, and this is substituted into the above equation (3) to arrange the control function as follows.

m (+) + c (+) + (k + ka) (x + y) = − kaza + kaz z = za + Gf (x + y) (11) f (x + y): m (+) + c (+) + (k + ka) (x + y) G: Feedback gain (G = 1 / ka) This control is intended to suppress the structure 4 by directly responding to the input of the earthquake motion, based on the response amount of the structure 4.

Furthermore, the control function (11) obtained here may be combined with the control functions of the above formulas (5), (7), and (9), if necessary. This means that in the control of absolute vibration damping given by the equation (11), the power means 5 needs to operate promptly with respect to the control signal output from the control means 9. However, the power means 5 has a considerable operation delay and may not be able to respond to the signal. In addition to the control of the equation (11), by combining it with the control functions of the equations (5), (7), and (9), and performing correction from the viewpoint of changing the vibration system, the absolute damping control can be performed. Excellent damping control can be performed by eliminating adverse effects such as a delay in the operation of the power unit 5.

In this way, in the vibrating system in which the elastic means 6 is newly provided in the force transmission system of the power means 5 in which the seismic force and the damping force interact, the newly derived above equations are used as the control function of the control means 9. Then, by using the response of the structure 4 as the detection amount of the detection means 7 to control the expansion / contraction displacement amount z of the power means 5, the presence of the elastic means 6 is taken into consideration, and then the elastic means 6 is added.
Further, it is possible to output an appropriate vibration damping control signal to the power means 5 while exerting its function, and it is possible to obtain an excellent vibration damping effect.

Further, in detecting the absolute response amount of the structure 4, even if the detecting means 7 installed in the structure 4 as shown in the figure detects the absolute acceleration, absolute velocity, and absolute displacement of the structure 4 independently of the stationary system. On the other hand, the acceleration, velocity, and displacement of the ground motion and the relative acceleration, velocity, and displacement of the structure 4 with respect to the ground 2 are detected by separate sensors, respectively, and these are superposed and used as in the above formula. Is also good.
Further, the acceleration, the velocity, and the displacement may be obtained by differentiating or integrating the detected velocity, for example.

With respect to the fact that the expansion / contraction displacement amount z of the power unit 5 is adopted as the control amount of the control unit 9, the control amount when controlling the power unit 5 such as a hydraulic cylinder is the displacement amount and the displacement speed. ， There is displacement acceleration. On the other hand, there is also a method of installing a load cell or the like between the power unit 5 and the structure 4 to control the acting force generated by the power unit 5. When a hydraulic cylinder, for example, is adopted as the power means 5, the operation is performed by controlling the valve. This valve control is for adjusting the inflow amount of oil, and since the inflow amount corresponds to the displacement speed of the hydraulic cylinder, this valve control is performing displacement speed control of the hydraulic cylinder. Therefore, in such a case, the control means 9
It is the most direct and simple to set the controlled variable by the displacement speed of the power means 5, and this speed control is generally performed. However, as a general idea of the control system, the displacement control is the most stable because it hardly causes oscillation of the control system. That is, considering the speed control as a reference, the acceleration control has a differential control relationship with the speed control, and if the power means 5 can react quickly, excellent followability is exhibited, but stability is poor and oscillation is generated. It is a control system that is easy to cause. Further, the control system for force control is unstable because it easily oscillates like the acceleration control. On the other hand, the displacement control has an integral control relationship with the speed control, and is excellent in stability and hardly causes oscillation.

In this damping control, by introducing the expansion / contraction displacement amount z of the power means 5 into the control formula in deriving the new control function described above, the control of the power means 5 can be achieved by this displacement control. By adopting this highly stable displacement control in the vibration damping method described above, it is possible to achieve even more excellent vibration damping.

With regard to the vibration damping method and apparatus, feedback control is employed instead of feedforward control which is performed by previously detecting ground motion before the structure 4 starts shaking due to earthquake motion. Since this is a predictive control in the feedforward control, a control circuit that grasps the vibration characteristics of the structure 4 and its nonlinearity in advance and reflects them is required, whereas the feedback control does not require such a control. It is also possible to follow the nonlinearity of the structure 4.

Then, as described above, the structure 4 supported on the ground 2 through the lengthening means 3 has elastic means 6 for elastically moving in the force transmitting direction, and these structures 4 are displaced relative to each other. When the vibration is suppressed by the power means 5 that is driven to expand and contract between the ground and the ground 2 and transmits the vibration damping force to the structure 4, in the vibration damping method of the present invention, the earthquake motion and the input from the power means 5 are used. The response of the structure 4 is detected, and the power means 5 is based on the various control functions described above according to the response of the structure 4.
The amount of expansion and contraction displacement z is feedback-controlled.

<< Effects of the Invention >> In short, according to the vibration damping method and the device thereof related to the present invention, in the vibration system in which the elastic means is newly provided in the force transmission system of the power means in which the seismic force and the vibration damping force interact, The vibration equation newly derived including the elastic coefficient of the generating means is used as the control function of the control means, and the response of the structure is adopted as the detection amount of the detecting means to control the expansion / contraction displacement amount of the power means. Thus, in consideration of the presence of the elastic means, it is possible to output an appropriate damping control signal to the power means while allowing the elastic means to exert its function, and it is possible to obtain an excellent damping effect. .

In addition, by introducing the displacement amount of the power means into the control formula in deriving the new control function described above, the control of the power means can be achieved by this displacement control, and this highly stable displacement control can be used as the vibration suppression control. By adopting it, it is possible to achieve even more excellent vibration suppression.

Further, since the feedback control is adopted, it is not necessary to grasp the vibration characteristics and non-linearity of the structure in advance and use a control circuit that reflects them, and it is possible to achieve appropriate vibration suppression control.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a preferred embodiment of a vibration damping device according to the present invention. 2 ... Ground, 3 ... Lengthening means, 4 ... Structure, 5 ... Power means, 6 ... Repulsion means, 7 ... Detection means, 9 ... Control means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshikazu Takeda 4-640 Shimoseido, Kiyose-shi, Tokyo Inside Obayashi Technical Research Institute, Inc. (72) Inventor Tetsuo Suzuki 4-640 Shimoseido, Kiyose-shi, Tokyo Obayashi Engineering Research In-house (72) Inventor Taro Sekimatsu 4-640 Shimoseido, Kiyose-shi, Tokyo Inside Obayashi Technical Research Institute Co., Ltd.

Claims (2)

[Claims] Claim: What is claimed is: 1. A structure, which is supported on the ground through a lengthening means, has elastic means for elastically moving in the force transmitting direction, and the structure and the ground are displaced relative to each other. When damping is performed by power means that is driven to extend and contract and transmits damping force to the structure, the response of the structure due to the earthquake motion and the input from the power means is detected, and the expansion and contraction displacement of the power means is performed according to the response of the structure. A vibration damping method characterized in that the quantity is feedback controlled. 2. The ground is provided between the ground and a structure supported on the ground through a lengthening means, and the ground and the structure which are displaced relative to each other are driven to expand and contract. Power means for transmitting damping force to the structure, elastic means attached to the power means and elastically in the force transmitting direction, and detecting means for detecting the response of the structure due to seismic motion and input from the power means. And a control means for feedback-controlling the expansion / contraction displacement amount of the power means according to a detection signal from the detection means.