JPH0819783B2 - Vibration control method and device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION << Industrial Application Field >> The present invention relates to a seismic motion input to the structure when damping a long-periodic structure with a damping force applied from a power means such as an actuator. The present invention relates to a vibration damping method and apparatus for detecting a response of a structure caused by an earthquake motion and an input from the power means, and controlling an expansion / contraction displacement amount of the power means based on the detected value.

<< 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 is expanded and contracted in the direction of ground motion between the structure and the ground supported by a lengthening means such as an isolator made of laminated rubber on the ground, a sliding bearing composed of rollers, etc., and the like. A means is provided to generate a damping force in the direction opposite to the seismic motion in the power means, to insulate the structure from the moving ground and maintain the structure at a constant position as much as possible regardless of ground motion. It is known that the damping mechanism is considered to be (absolute damping state) (Abstracts of Scientific Lectures of the Japan Institute of Architecture (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. 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.

Further, in realizing the absolute vibration suppression in the above-described vibration damping mechanism, the following points need to be noted. In other words, the absolute damping means that the structure remains stationary in the space regardless of the ground motion because it controls the structure to keep the structure at a constant position against the ground motion displacement by the damping force of the power means. Although the safety of equipment etc. is ensured, in the case of a huge earthquake including a long period large amplitude component (for example, an amplitude of 100 cm or more and a number of cycles of 10 seconds or more) that causes a large ground motion displacement, the structure will be displaced relative to each other There is a problem that the isolator that insulates the object from the ground may be largely deformed and destroyed.

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. An object of the present invention is to provide a vibration damping control method and an apparatus thereof that are suitable for a vibration system including an elastic means and can realize absolute vibration damping within a possible range.

<< 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 structure, seismic motion or seismic motion input to the structure and the structure due to input from the power means After detecting the response and removing the long-period large-amplitude component from the detected value, the expansion / contraction displacement amount of the power means is controlled according to the detected value from which the long-period large-amplitude component is removed.

Then, by removing the large-amplitude component of a long cycle from the response of the structure due to the seismic motion or the seismic motion and the input from the power means input to the structure to be detected, and controlling the power means While suppressing the occurrence of its critical state such as excessive deformation, by controlling the expansion and contraction displacement amount of the power means in consideration of the presence of the elastic means, as much as possible while utilizing the function of the elastic means. Absolute damping control is achieved within the range.

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 force transmitting direction, and detection for detecting a seismic motion or seismic motion input to the structure and the response of the structure due to input from the power means Means, a filter for removing a large-amplitude component of a long cycle from the detection signal of the detection means, and a control means for controlling the expansion and contraction displacement amount of the power means according to the output signal output from the filter, After removing a long-period large-amplitude component that becomes an excessive load for the long-period increasing means by a filter, it can be applied to the seismic motion or the seismic motion and power input to the structure while making the most of the function of the elastic means. Thereby performing the absolute damping control to the extent possible the expansion changes as the control target of the power means on the basis of the response of that structure.

<< 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,
The power means 5 such as a hydraulic cylinder, which is driven to expand and contract between the structure 4 and the ground 2 which are relatively displaced in the event of an earthquake to transmit a damping force to the structure 4, is provided on the side of the ground 2 which is relatively displaced. It is provided substantially horizontally between the vertical wall 1a of the recess 1 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, the present apparatus is provided with detection means 7 for detecting a seismic motion or a seismic motion input to the structure 4, and a response of the structure 4 due to an input from the power means 5. When the seismic motion input to the structure 4 is adopted as a detection target, the detecting means 7 is used to detect the seismic motion (ground displacement of ground, ground velocity, etc.) input to the structure 4 during an earthquake in advance. Installed on the side. Further, when the response of the structure 4 is adopted as the detection target by the earthquake motion and the input from the power means 5, the detecting means 7 is provided so as to detect the earthquake motion at the time of the earthquake and the response of the structure 4 by the input from the power means 5. Are installed in the structure 4. 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 expansion / contraction displacement amount of the power means 5 is fed back in accordance with the detection signal from the detection means 7 or is fed back according to the response of the structure 4 according to the input seismic motion. It has a control function. 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 always detected by the detection means 7, the detected amount is processed by the control means 9, and the control signal is always fed back to the power means 5. It has become so. 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.

Further, particularly in the present invention, a filter 10 for removing a large-amplitude component having a long period from the detection signal of the detecting means 7 is provided between the detecting means 7 for detecting various detection targets and the control means 9. As a result, the control means 9 controls the expansion / contraction displacement amount of the power means 5 in accordance with the output signal output from the filter 10 by removing the large-amplitude component having a long cycle from the detection signal.

Here, the concept of the damping method of the present invention, the point that the expansion / contraction displacement amount of the power unit 5 is adopted as the control amount of the control unit 9, and the function of the filter 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 z of the power means 5 at that time can maintain the structure 4 at a constant position regardless of ground motion (absolute damping state). ) It will be.

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 equation (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 / ka 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.

Equation (4) indicating the control function of the above-described absolute vibration suppression may be expressed as follows by 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 amount of expansion / contraction displacement of the power means 5 at present,
Control is performed based on these values z and the response amount of the structure 4. Therefore, for actual control, this value z is za
Then, by substituting this into the equation (3) and rearranging the control function, the following is obtained.

m (+) + c (+) + (k + ka) (x + y) =-kaza + kaz z = za + Gf (x + y) (5) 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.

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 where the seismic force and the damping force interact, the newly derived equation (5) is applied to the control means 9. By using the response of the structure 4 as the detection amount of the detection means 7 as a control function and performing feedback control of the expansion / contraction displacement amount z of the power means 5, the presence of the elastic means 6 is taken into account and the elastic force is released. Power means 5 while allowing means 6 to exert its function
It is possible to output an appropriate vibration suppression control signal, and an excellent vibration suppression effect can be obtained.

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 superimposed 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.

The filter 10 that removes a long-period large-amplitude component from the detection signal of the detection means 7 functions as follows. That is,
In the control of absolute vibration damping, it is premised that the structure 4 is maintained at a constant position regardless of the displacement amount of the ground 2 as described above. Therefore, the structure is interposed between the ground 2 and the structure 4. The lengthening means 3 is required to absorb the relative displacement between the ground 2 and the structure 4. In particular, the long-period component of the vibration component included in the seismic motion includes a vibration component having an extremely large amplitude, and when the structure 4 is shaken by such a long-period large-amplitude vibration component, When the power means 5 is controlled to be absolutely damped, the lengthening means 3 has to absorb a large relative displacement and may be largely deformed and damaged.

Here, the filter 10 has a length that may cause such a large deformation in the lengthening means 3 from the detection signal which is detected by the detection means 7 and processed by the control means 9 and becomes the control signal of the power means 5. The large amplitude component in the periodic component is removed. Then, by outputting the signal from which the long-period large-amplitude component is removed to the control means 9, the absolute vibration-damping control for the large-amplitude component is excluded, and the long-period increasing means 3 is largely deformed and damped. To avoid. On the contrary, with respect to the long period component including such a large amplitude component, the long period increasing means 3 takes charge of the long period component so that the long period increasing means 3 exerts its original function and the seismic isolation is satisfactorily performed. Can be made.

As the actual circuit configuration of the filter 10, the frequency of a long-period component that may include such a large amplitude component is set in the circuit in advance, and when such a vibration is input as a detection signal. , Which is configured as a high-pass filter that removes vibration components below the frequency.

Further, the circuit configuration of the filter 10 is preferably as follows. If the filter 10 is installed between the detection means and the control means 9, the power timing of the power means 5 is directly controlled by the output signal from the filter 10 due to the phase delay due to the interposition of the filter 10, and the control timing for a certain frequency is deviated. However, there is a possibility that the damping effect will be weakened, or conversely the vibration will be amplified. In order to suppress the effect, filter 10 is used so that this phase lag appears at frequencies that are not likely to occur.
It is good to set the characteristics of. From this point of view, the circuit is configured so that the frequency component of the vibration during the actual earthquake is sensed and the above-mentioned set frequency to be removed is changed at any time so that the phase delay occurs at the frequency of which the probability of occurrence is small. It is preferable.

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 to transmit the vibration damping force to the structure 4, in the vibration damping method of the present invention, the detection means 7 inputs the vibration to the structure 4. The response of the structure 4 due to the seismic motion or the seismic motion and the input from the power means 5 is detected, the filter 10 removes a large amplitude component of a long period from the detected value, and then the control means 9
The expansion / contraction displacement amount z of the power means 5 is controlled in accordance with the detection value obtained by removing the large-amplitude component having a long period.

<< Effects of the Invention >> In short, according to the vibration damping method and the device therefor of 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, A structure derived from the seismic motion or the seismic motion and power input to the structure as the detection amount of the detection means, using the newly derived vibration equation including the elastic coefficient of the generation means as the control function of the control 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, from the detection signal detected by the detection means and processed by the control means to be the control signal of the power means, a large amplitude component in the long period component that may cause large deformation in the lengthening means is filtered. I decided to remove it,
Accurate control of absolute vibration damping can be achieved while preventing the long period increasing means from being greatly deformed and damaged.

[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, 10 ... Filter

 ─────────────────────────────────────────────────── ─── 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 expand and contract and transmits damping force to the structure, the seismic motion or the seismic motion input to the structure and the response of the structure due to the input from the power means are detected, and the detected value After removing a large-amplitude component of a long period from the above, the amount of expansion and contraction displacement of the power means is controlled according to the detected value from which the large-amplitude component is removed. 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 vibration damping force to a structure, elastic means attached to the power means and elastically in the force transmitting direction, and a seismic motion or seismic motion input to the structure and a structure based on input from the power means Detection means for detecting the response of the object,
A filter for removing a large-amplitude component having a long period from the detection signal of the detection means, and a control means for controlling the expansion / contraction displacement amount of the power means according to an output signal output from the filter are provided. Vibration control device.