JPH0819782B2 - Vibration control method and device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION << Industrial Application Field >> The present invention, when damping a long-periodic structure by a damping force applied from a power means such as an actuator, preliminarily detects a seismic motion input to the structure. In addition to detecting the ground motion and the response of the structure due to the input from the power means, the expansion and contraction displacement amount of the power means is controlled by combining the feedforward control according to the input earthquake motion and the feedback control according to the response of the structure. The present invention relates to a vibration damping method and its device.

<< 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 of the power means and the structure or the ground in such a vibration control mechanism, in the control system in the case where the operation delay or feedback control of the power means with respect to the transmitted vibration control signal is adopted. Considering oscillation 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 a seismic control, 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.

In feedback control, if a high-frequency component is included in the feedback signal used for control detected from the structure, it will cause oscillation of the control system, but it will be detected by the structure due to the intervention of the elastic means. The high-frequency component can be cut from the signal that is generated, the stability of control can be improved, and the power means can exhibit 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. Therefore, it is desired to devise an appropriate vibration damping control method and its device in a vibration system provided with 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 and transmits damping force to the structures, the seismic motion input to the structure is detected in advance and input from the seismic motion and power means. The response of the structure due to is detected, and the expansion / contraction displacement amount of the power means is controlled by combining the feedforward control according to the input earthquake motion and the feedback control according to the response of the structure.

Then, the expansion / contraction displacement amount of the power means is controlled in consideration of the presence of the elastic means, so that the vibration control by the power means is performed while utilizing 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 vibration force, elastic means attached to the power means and elastically in the force transmission direction, first detecting means for detecting seismic motion input to the structure in advance, and seismic motion and power means Second detection means for detecting the response of the structure due to the input, and the amount of expansion / contraction displacement of the power means according to the detection signals from these detection means follow the feedforward control according to the input seismic motion and the response of the structure. And a control means for controlling feedback control in combination, and the expansion / contraction displacement of the power means is controlled based on the seismic motion input to the structure and the response of the structure while making use of the function of the elastic means. Thereby performing the vibration damping control is.

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

As shown in the figure, a structure 4 is constructed on the ground 2 in which the recesses 1 are defined by being supported by the lengthening means 3 in the recesses 1. The means 3 makes the period longer. 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 attached between the power means 5 and the structure, but in the force transmission direction, the power means 5 and the recess vertical wall 1a on the ground 2 side are connected. It may be between. Then, the elastic means 6 has a power means 5 to which the power means 5 responds to a high-frequency component contained in the control signal to impart a damping force.
This functions to prevent the vibration of the structure 4 from being amplified or to prevent the power means 5 from failing to exert a sufficient vibration damping effect due to the oscillation of the control system.

On the other hand, on the ground 2 side, a first detecting means 7 is installed which detects in advance the earthquake motion (ground motion displacement, ground motion velocity, etc.) input to the structure 4 during an earthquake. In addition, in the structure 4,
Second detecting means 10 for detecting the response of the structure 4 due to the earthquake motion and the input from the power means 5 is installed. A control means 9 such as a computer is connected to the detection means 7 and 10 via an amplifier 8 for amplifying the detection signal. This control means 9 is connected to the power means 5, and the expansion / contraction displacement amount of the power means 5 is determined in accordance with the detection signals from the detection means 7 and 10, and the feedforward control and the response of the structure 4 according to the input seismic motion. It has a function of controlling by combining feedback control according to. In the feedback control, the response of the structure 4 due to the action of the seismic motion and the action of the power means 5 is constantly detected by the detection means 10, and the detected amount is processed by the control means 9 to output the control signal.
You will always be returned to. 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 vibration damping method of the present invention, the point that the expansion / contraction displacement amount of the power means 5 is adopted as the control amount of the control means 9, and the point of the control method (feedforward, feedback) 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.

First, a description will be given of detecting the seismic motion input to the structure 4 in advance and performing feedforward control of the expansion / contraction displacement amount of the power means 5 by the input seismic motion.

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 with respect to the ground 2: structure 4 Relative velocity of the structure 4 with respect to the ground x: Relative displacement of the structure 4 with respect to the ground 2: Ground acceleration F: Control force of the power means 5 Since the force transmission system of the power means 5 is provided with the elastic means 6, , The contents of the control force F of the power means 5 of the formula (1) can be rewritten as follows.

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, when 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 and absolute response speed with respect to the stationary system (absolute system) are arranged as follows.

m (+) + c (+) + (k + ka) (x + y) = c + (k + ka) y + kaz (3) In the expression (3) expressed as above, the left side shows the vibration characteristic in the absolute system having the above-mentioned structure. , The right side is the content of 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.
In other words, if the external force term becomes 0, the absolute response of the structure 4 becomes 0.

Therefore, when the equation (3) is set to the right side = 0 and the equation is rearranged 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).

In this way, in the vibration system in which the elastic means 6 is newly provided in the force transmission system of the power means 5 on which the seismic force and the damping force interact, the newly derived equation (4) is applied to the control means 9. The seismic motion input to the structure as the detection amount of the detection unit 7, that is, the ground displacement y and the ground velocity is used as the control function to perform the feedforward control of the expansion / contraction displacement amount z of the power unit 5, thereby generating the elastic unit. 6 is taken into consideration, and the motive means 5 is made to have the elastic means 6 exert its function.
It is possible to output an appropriate vibration suppression control signal, and an excellent vibration suppression effect can be obtained.

With regard to the above formula (4), when the damping coefficient c peculiar to the structure 4 is extremely smaller than the elastic coefficient ka of the elastic means 6, the value of c / ke can be ignored, and therefore it is omitted from the control. You may.

Further, the detecting means for detecting the ground motion displacement y and the ground motion speed may be composed of a displacement meter and a speedometer that detect these values independently of each other, or a single speedometer may be installed and the speedometer of this speedometer may be installed. The ground motion displacement y may be detected by integrating the detected ground motion velocity.

Next, it will be described that the response of the structure 4 due to the earthquake motion and the input from the power means 5 is detected, and the expansion / contraction displacement amount of the power means 5 is feedback-controlled by the response of the structure 4.

Regarding the above formula (1), action of seismic motion and power means 5
The displacement of the structure 4 due to the input from
There are speed and acceleration. Further, in consideration of the above vibration system, the masses peculiar to the structure 4, the damping coefficient c peculiar to the structure 4, and the elastic coefficient k of the lengthening means 3 are the various quantities that can change the vibration characteristics of the structure 4. is there. Then, in the feedback control, 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 it, 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 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) is as follows. Can be rewritten as

F = ka (z−x) (2) Here, the equation (2) is substituted into the equation (1). At this time, when the seismic 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 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 (5) In the expression (5) 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 (6) is substituted into the above equation (5) and rearranged, it is expressed as follows. Compared with the equation (5), 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 (7) 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 (8) is substituted into the above equation (5) and rearranged, it is expressed as follows. Compared with the equation (5), 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 (9) 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 (10) into the above equation (5) and rearranging, it is expressed as follows. Compared with the equation (5), 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 (11) Thus, in correspondence with kaz which is the force term (6),
By introducing the control function shown in the equations (8) and (10) into the control system, the change of the vibration system shown in the equations (7), (9) and (11) is ensured. It is possible to exert a damping effect from the aspect of changing the vibration system. In particular,
The expression (7) is to add a damper to the structure 4 to exert the effect of suppressing the resonance amplification, and also the expressions (9) and (1
Equation (1) 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 (6), (8), (10)
It goes without saying that the control system may be configured by appropriately combining the expressions.

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, the response of the structure 4 is adopted as the detection amount of the detection means 10 and feedback control of the expansion / contraction displacement amount z of the power means 5 is performed, and the presence of the elastic means 6 is taken into consideration. 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.

When detecting the absolute response amount of the structure 4, the second detecting means 10 installed in the structure 4 as shown in FIG.
Absolute displacement may be detected. On the other hand, acceleration, velocity and displacement of ground motion and relative acceleration, velocity and displacement of the structure 4 with respect to the ground 2 are detected by separate sensors, respectively, and these are calculated as in the above formula. You may make it overlap and use it. Further, the acceleration, the velocity, and the displacement may be obtained by differentiating or integrating the detected velocity, for example.

Further, in the present invention, the following consideration is given to the vibration suppression control. That is, in the control of absolute vibration damping given by the equation (4), the power means 5 must be promptly operated in response to the control signal output from the control means 9.
If quick operation is not ensured, the behavior of the power means 5 may not be damping as described above, but may rather amplify the swing of the structure 4. However, the power means 5 has a considerable operation delay and may not be able to respond to the control signal output from the control means 9. Therefore, in the present invention, the above formulas (7), (9), and (11) corresponding to the response amount of the structure 4 are applied to the feedforward control based on the formula (4) that should achieve absolute vibration suppression. The control is performed by combining feedback control based on the control function of. Thereby, based on the control of the absolute vibration control, by correcting the adverse effect such as the operation delay of the power means 5 by the feedback control from the viewpoint of changing the vibration system, the absolute vibration control for the vibration system including the elastic means 6 is performed. It is possible to perform an excellent vibration suppression control by eliminating adverse effects such as an operation delay of the power means 5 in the control of.

The above-mentioned equation (4) indicating the absolute vibration control function may be expressed as follows using the response of the structure 4. That is, in the above formula (4), the value z is introduced into the control as the actual expansion / contraction displacement amount of the power means 5 at present, 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) (12) f (x + y): (+) + 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, while being based on the response amount of the structure 4.

Then, the control function (12) obtained here may be combined with the control functions of the above formulas (7), (9) and (11) as required.

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.

Regarding this damping method and device, the feed-forward control is used in which the ground motion before the structure 4 starts to be shaken by the earthquake motion is detected in advance. Therefore, the oscillation of the control system also occurs from this aspect. Configured to not.
By the way, since this feedforward control is a predictive control, the control is relatively difficult because a control circuit that grasps the vibration characteristics of the structure 4 and its nonlinearity in advance and reflects them is required. In the present invention, the feedback control capable of following the nonlinearity of the structure 4 is adopted as the correction control of this feedforward control, so that the accuracy of the control can be ensured. Has become.

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 which 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 structures 4 are detected by the detecting means 7 and 10. Is detected in advance and the response of the structure 4 due to the input from the power means 5 is detected, and the expansion / contraction displacement amount z of the power means 5 is input based on the various control functions described above. The feed-forward control according to the earthquake motion and the feedback control according to the response of the structure 4 are combined and 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 seismic motion is input to the structure as the detection amount of the detecting means, and the structure is generated by the input from the seismic motion and power means. By controlling the expansion and contraction change amount of the power means by adopting the response of, the presence of the elastic means is taken into account, and the vibration control signal suitable for the power means is given to the elastic means while exerting its function. It can be output, and an excellent vibration damping effect can be obtained.

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.

Furthermore, in addition to adopting feedforward control that can suppress the oscillation of the control system, feedback control that does not require a control circuit that reflects the vibration characteristics of the structure and its nonlinearity in advance as its correction control Since this is adopted, it is possible to achieve accurate vibration damping control while achieving stability of 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 ... First detecting means, 9 ... Control means, 10 ... Second detecting 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 by the power means that is driven to expand and contract and transmits the damping force to the structure, the seismic motion input to the structure is detected in advance and the response of the structure due to the seismic motion and the input from the power means is detected. A vibration damping method characterized in that the expansion / contraction displacement amount of the power means is controlled by a combination of feedforward control according to an input earthquake motion and feedback control according to a response of a structure. 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 a damping force to the structure, elastic means attached to the power means and elastically in the force transmission direction, and first detecting means for detecting in advance seismic motion input to the structure. Second detecting means for detecting a response of a structure due to an earthquake motion and an input from the power means, and an expansion / contraction displacement amount of the power means according to a detection signal from these detecting means, a feed according to the input earthquake motion. A vibration damping device comprising: a forward control and a control means for controlling feedback control according to a response of a structure in combination.