JPH0972126A - Variable damping device for earthquake control structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a variable damping device stably operated against various factors. SOLUTION: A double rod type piston 3 is installed slidably into a cylinder 2. A flow control valve 12 is mounted in a flow path tying the left and right hydraulic chambers 6 of the piston 3. A computer 14 inputs a damping-force command value S1 to a damping force controller 13 on the basis of the response of a structure. Actual damping force generated in a device 1 is detected in the forms of hydraulic detecting values S6, S7 by pressure sensors 23 fitted to both hydraulic chambers 6. The actual opening of the flow control valve 12 is detected as a valve-opening detecting value S5 by a valve opening sensor 22. Actual device speed is detected as a device-speed detecting value S9 by a device speed sensor 41. These detecting values are transmitted to the damping force controller 13. When the device-speed detecting value S9 is a set value αor less, the device speed is determined as a dead band at a first stage, the damping-force command value S1 is corrected on the basis of each detecting value, a valve-opening control command value S4 is output finally, and the opening of the flow control valve 12 is adjusted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is designed to connect a frame body of a structure and a seismic resistant element, or seismic resistant elements provided in the frame to each other, and change the connection state and damping coefficient to prevent the structure from being subjected to vibration disturbance. It relates to a variable damping device for protection.

[0002]

2. Description of the Related Art As one of active control type vibration control systems, the applicant changed the damping coefficient of a device by changing the damping coefficient of the device when it is interposed between the frame body and the earthquake resistance elements or between the earthquake resistance elements. A variable damping device has been proposed that enables control that evaluates the damping property of an object and control that uses damping force (damping resistance force) as control force (Japanese Patent Laid-Open No. 2-2).
89769).

7 to 9 show one mode of a variable damping / variable rigidity structure in which the variable damping device 1 in the above-mentioned conventional example is installed. The variable damping device 1 is, for example, as shown in FIG. It is installed between a frame body 31 composed of 33 and beams 34 and an inverted V-shaped brace 35 as a seismic resistant element incorporated in the frame body 31 of each layer. The response (amplitude, velocity, acceleration, etc.) of the structure due to an earthquake or the like is detected by the response sensor 36 installed in the structure, and the optimum damping coefficient or damping force of the variable damping device 1 according to the response state and its vibration level. Is calculated by the computer 14 and a control command is issued.

[0004] The variable damping device 1 has, for example, an appearance as shown in FIG. In this example, the piston rod 4 projects to the left and right from the cylinder body 2, a part of the oil passage is formed in the upper part of the cylinder body 2, and the flow rate adjusting valve 12 is provided in this part, and the flow path adjusting valve 12 is provided close to this part to reduce the required capacity. An accumulator 19 is installed. In the figure, 22 is a spindle,
For example, both ends of the piston rod 4 can be connected to a bracket provided on a beam that constitutes the frame body, and can be pin-joined to a brace or a seismic wall as a seismic element using the support shaft 22. FIG. 9 shows an example of a method of installing the variable attenuation device 1 in a frame, but various installation methods and types are possible.

In the case of such a hydraulic variable damping device,
Due to various factors such as oil temperature, flow path resistance, and the like, there is a problem that the control computer does not operate as instructed, or even if it operates, it is difficult to obtain the expected damping force. In addition, the seismic motion or the like targeted by the variable damping device is an unsteady vibration and has a property that changes every moment, and the response of the structure becomes complicated.

From the above, even a slight error in control or design has a great influence on the vibration control effect. Therefore, by adopting a configuration that is hardly affected by oil temperature, oil leakage, flow path resistance, and the like, a dramatic improvement in the vibration control effect can be expected.

On the other hand, the applicant, etc., can operate stably against various factors according to the disturbance such as an earthquake or the response characteristics of the structure and efficiently suppress the response of the structure. As a damping device, the variable damping device disclosed in Japanese Patent Laid-Open No. 5-171836 has been previously proposed.

FIG. 10 shows a hydraulic circuit of the variable damping device 1 disclosed in the above publication, in which the device body of the variable damping device 1 has a double rod type piston 3 in a cylinder 2.
So that the piston rod 4 projects from both ends,
It is slidably inserted. In the hydraulic chambers 6 formed on the left and right of the piston 3, outflow blocking check valves 8 for blocking the outflow of the pressure oil in the hydraulic chamber 6 and inflow blocking for blocking the inflow of the pressure oil into the hydraulic chamber 6, respectively. Check valve 9 is provided.

The check valves 8 and 9 have a structure in which, for example, a ring-shaped valve is urged by a spring so that pressure oil flows only in one direction, and an inflow connecting left and right outflow prevention check valves 8 along the cylinder 2. By providing the outflow passage 11 that connects the flow passage 10 and the left and right inflow prevention check valves 9 and connecting these via the flow rate adjusting valve 12, the left and right hydraulic chambers 6 can be communicated.

Further, in this example, the flow rate adjusting valve 12 is composed of a large flow rate switching valve 12a and a shutoff valve 12b composed of a proportional solenoid valve or the like. An inlet port 15 and an outlet port 16 are provided on one end side of the large flow rate switching valve 12a, and a back pressure port 17 is provided on the other end side of the large flow rate switching valve 12a. A shutoff is provided in a bypass flow passage 18 from the back pressure port 17 toward the inlet port 15. An off valve 12b is provided.

Further, as shown in the figure, the cylinder 2 is provided with an accumulator 19 communicating with the inflow passage 10. This is the pressure oil in the cylinder 2 (atmospheric pressure + α)
It is an oil sump that is pressurized by. It supplies oil due to leakage, prevents inclusion of air bubbles, compresses oil when locked, and replenishes volume changes due to temperature changes.

Large flow rate switching valve 1 constituting the flow rate adjusting valve 12
2a includes a valve opening sensor 22 for detecting the position of the valve body.
Is provided, and the obtained actual position of the valve element is sent to the damping force controller 13 as a valve opening detection value S5.

A pressure sensor 23 is provided in each of the hydraulic chambers 6 of the cylinder 2 to detect the hydraulic pressure detection values S6 and S7.
Send to the damping force controller 13. Oil pressure detection value S6, S7
The differential pressure value S8 of corresponds to the damping force actually generated by the variable damping device 1.

FIG. 11 is a block diagram of the damping force controller 13 disclosed in the above publication. The damping force controller 13 includes a command value determination circuit 24 and a pressure controller 2.
5 and the valve opening controller 26 and other circuits.

In the command value judgment circuit 24, the computer 1
4 (see FIG. 7) and the like, the damping force command value S1 sent from the damping force determination means and the sign of the differential pressure value S8 obtained from the hydraulic pressure detection values S6 and S7 are judged. Is a pressure command value S2 corresponding to the damping force command value S1, and in the case of a different sign, the flow rate adjusting valve 12 (large flow rate switching valve 1
A value corresponding to the value of 2a) at which the opening is fully opened is output to the pressure controller 25 and the valve opening controller 26 as the valve opening command value S3.

Next, in the pressure controller 25, with respect to the pressure command value S2 sent from the command value judgment circuit 24,
The differential pressure value S8 is fed back and the valve opening command value S3 is output.

Further, for the valve opening command value S3, the valve opening controller 26 sets a valve opening detection value S5 corresponding to the actual opening of the flow rate adjusting valve 12 sent from the valve opening sensor 22. Feedback and valve opening control command value S
4 is output to adjust the opening of the flow rate adjusting valve 12. By adjusting the opening degree of the flow control valve 12, an optimal damping force is generated in the apparatus main body to suppress the vibration of the structure.

[0018]

As described above, in the hydraulic variable damping device, a slight error in control or design has a great influence on the damping effect, but on the other hand, oil temperature, oil leakage, flow path resistance, etc. With a structure that is less likely to be affected by, it is possible to expect a dramatic improvement in the seismic control effect.

The present invention is a further improvement of the variable damping device described in Japanese Patent Laid-Open No. 5-171836, and it is against various factors depending on the disturbance such as an earthquake or the response characteristics of a structure. We provide a variable damping device that operates stably and can efficiently suppress the response of the structure, thereby reducing the amount of response of the structure, ensuring the safety of the structure, and comfortable living. The purpose is to realize space.

[0020]

Claims 1 to 3 of the present invention
The basic configuration requirements of the device body of the variable damping device according to
This is the same as the variable damping device described in JP-A-5-171836, in which hydraulic chambers are provided on both sides of a piston of a double rod type that reciprocates in a cylinder, and pressure oil in both hydraulic chambers is closed by a valve, Alternatively, the piston is fixed or left and right movable by flowing.

One of the cylinder and the piston is
The frame body and the seismic resistant element of the structure or one of the seismic resistant elements are connected to each other, and the other is connected to the frame body and the seismic resistant element or the other of the seismic resistant elements.

Further, a flow rate adjusting valve is provided in the flow path connecting the two hydraulic chambers, and the opening degree of the flow rate adjusting valve is controlled by using a control means including a computer and a circuit. That is, by changing the opening of the flow control valve in accordance with the response of the structure due to a disturbance such as an earthquake, the damping coefficient c of the variable damping device and the damping force generated accordingly can be adjusted. By controlling the magnitude of the damping force so that the response of the structure becomes small, the safety and comfort of the structure can be ensured.

The control means in the invention according to claim 1 is
The damping force determining means for determining the damping force to be generated by the device based on the response of the structure due to the vibration external force and outputting the value corresponding to the damping force as the damping force command value S1 and the opening degree of the flow rate adjusting valve. A valve opening degree detecting means for detecting and outputting a value corresponding to the opening degree as a valve opening degree detection value S5, and the hydraulic pressures of both hydraulic chambers are detected, and the values corresponding to the hydraulic pressures are detected as hydraulic pressure detection values S6 and S7, respectively. , A subtraction circuit for outputting a value corresponding to the difference between the two hydraulic pressure detection values S6 and S7 as a differential pressure value S8, a relative speed between the cylinder and the piston, and a value corresponding to the speed. When the device speed detection means for outputting the device speed detection value S9 and the device speed detection value S9 are smaller than the set value α, or when the damping force command value S1 and the differential pressure value S8 are judged to have the same sign, Value corresponding to damping force command value S1 In output as pressure command value S2, device speed detection value S9, the set value α or more, and the damping force command value S
When the sign of 1 is different from the sign of the differential pressure value S8, the valve opening command value S3 is set to a value corresponding to the value at which the opening of the flow rate adjusting valve is fully opened.
, A pressure controller circuit that outputs the valve opening degree command value S3 corresponding to the corrected value by feeding back the differential pressure value S8 to the pressure instruction value S2 for correction, and the valve opening And a valve opening control command value that outputs a valve opening control command value S4 corresponding to the correction value by feeding back the valve opening detection value S5 to the degree command value S3. And an operating means for operating the flow rate adjusting valve based on S4.

This is based on the above-mentioned JP-A-5-171836.
In addition to the variable attenuator described in Japanese Patent Publication, a device speed detecting means for outputting a device speed detection value S9 is further provided, and the device speed detection value S9 is set in advance in a command value judgment circuit. In comparison with S9 <α, a value corresponding to the damping force command value S1 is always output as the pressure command value S2, and in S9 ≧ α, as in the case of the variable damping device disclosed in Japanese Patent Laid-Open No. 5-171836. The sign of the damping force command value S1 and the sign of the differential pressure value S8 is determined, and in the case of the same sign, the value corresponding to the damping force command value S1 is output as the pressure command value S2, and the difference between the damping force command value S1 and the difference When the sign of the pressure value S8 is a different sign, a value corresponding to the value at which the opening of the flow rate adjusting valve is fully opened is output as the valve opening command value S3.

That is, according to the first aspect of the invention, when the device speed is equal to or lower than the set value α, a dead zone is provided to prevent the determination circuit from operating, thereby stabilizing the device control.

In the above structure, the main structure of the control means is to judge the damping force to be generated by the device based on the response of the structure, and to output the corresponding value as the damping force command value S1. And a damping force commanding means S1 for correcting the damping force command value S1 according to the condition of the device, and outputting the valve opening control command value S4 to the operating means of the flow rate adjusting valve in the form of a control current or the like. It consists of a controller.

The damping force controller is a command value judgment circuit,
A sensor (displacement meter, etc.) as a valve opening detection means for detecting the actual opening of the flow rate adjusting valve, which is composed of circuits such as a pressure controller and a valve opening controller , And a pressure sensor (pressure converter, etc.) as a pressure detecting means for detecting the oil pressure of both hydraulic chambers of the apparatus main body, and a sensor (speed meter, etc.) for detecting the actual relative speed of the cylinder and piston of the apparatus main body. Is provided.

The control means in the invention according to claim 2 is
The damping force determining means for determining the damping force to be generated by the device based on the response of the structure due to the vibration external force and outputting the value corresponding to the damping force as the damping force command value S1 and the opening degree of the flow rate adjusting valve. A valve opening degree detecting means for detecting and outputting a value corresponding to the opening degree as a valve opening degree detection value S5, and the hydraulic pressures of both hydraulic chambers are detected, and the values corresponding to the hydraulic pressures are detected as hydraulic pressure detection values S6 and S7, respectively. And a subtraction circuit that outputs a value corresponding to the difference between the two hydraulic pressure detection values S6 and S7 as a differential pressure value S8, and the signs of the damping force command value S1 and the differential pressure value S8 are determined. In the case of a sign, the value corresponding to the damping force command value S1 is output as the pressure command value S2, and in the case of a different sign, the value corresponding to the value at which the opening of the flow rate adjusting valve is fully opened is the valve opening command value. The command value judgment circuit which outputs as S3 and the pressure command value S2 The value S8 is fed back to make a correction, and a pressure controller circuit that outputs a valve opening command value S3 corresponding to the correction value and a valve opening detection value S5 are fed back to the valve opening command value S3 to make a correction. And a valve opening controller circuit that outputs a valve opening control command value S4 corresponding to the correction value, and an operating unit that operates the flow rate adjusting valve based on the valve opening control command value S4. The gain K _{P of the} circuit or the gain K _v of the valve opening controller circuit is made variable according to the magnitude of the pressure command value S2 or the pressure deviation between the pressure difference value S8 and the pressure command value S2.

This is based on the above-mentioned Japanese Patent Laid-Open No. 5-171836.
This is equivalent to the variable damping device described in Japanese Patent Laid-Open Publication No. 2005-242242 in which the gain K _P of the pressure controller circuit or the gain K _v of the valve opening controller circuit is made variable, and the gain K _P or the gain K _v is made variable (both can be made variable. By including the case), the followability with respect to the command value can be improved.

The control means in the invention according to claim 3 is
The damping force determining means for determining the damping force to be generated by the device based on the response of the structure due to the vibration external force and outputting the value corresponding to the damping force as the damping force command value S1 and the opening degree of the flow rate adjusting valve. A valve opening detection means for detecting and outputting a value corresponding to the opening as a valve opening detection value S5 and a relative speed of the cylinder and the piston are detected, and a value corresponding to the speed is set as a device speed detection value S9. Device speed detecting means for outputting, front pressure detecting means for detecting the front pressure of the flow rate adjusting valve, and outputting a value corresponding to the front pressure as a front pressure detection value S10, damping force command value S1 and device speed detection value. The sign of S9 is determined. In the case of the same sign, the value corresponding to the damping force command value S1 is output as the pressure command value S2, and in the case of different sign, the opening of the flow rate adjusting valve corresponds to the value that is fully opened. Command value judgment that outputs the value to be used as the valve opening command value S3 With respect to the circuit and the pressure command value S2, the value obtained by multiplying the preceding pressure detection value S10 (always S10 ≧ 0) by the sign of the device speed detection value S9 is fed back for correction, and the valve opening corresponding to the correction value is performed. Temperature command value S3 and the valve opening command value S3 are fed back to correct the valve opening detection value S5, and the valve opening control command value S4 corresponding to the corrected value is output. And a valve opening controller circuit for operating the flow rate adjusting valve based on the valve opening control command value S4.

The front pressure detecting means is a pressure sensor or the like,
The feedback of the front pressure of the flow rate adjusting valve has been conventionally performed, but in the invention according to claim 3, it is determined together with the sign of the device speed detection value S9, so that the above-mentioned JP-A-5-171836 is disclosed. Compared with the variable damping device described above, the same stable control is possible while simplifying the sensor arrangement and feedback method.

[0032]

The damping force of the variable damping device can be generated only in the direction in which the differential pressure between the left and right cylinder chambers is generated.
Although the damping force in the opposite direction cannot be generated, in the present invention, the damping force command value S1 and the differential pressure value S8 (in the case of claims 1 and 2) or the device speed detection value S9 (in the command value determination circuit). Only when the device can generate the damping force of the command value, the pressure corresponding to the damping force is commanded to the pressure controller, and otherwise the device generates the most damping force. The control is stabilized by instructing the state (valve opening fully open, minimum pressure, etc.).

By combining the valve opening controller and the pressure controller, the stability of the device is increased, and by adopting the pressure control by the pressure controller for the entire device, the characteristic change due to the influence of temperature does not occur. ing.

By using such a damping force controller consisting of the command value judgment circuit, the pressure controller and the valve opening controller, the device can generate desired damping without considering the operating condition of the device like an actuator. It can be used as a device for generating a damping force only by inputting the force with a voltage or the like.

Further, in the invention according to claim 1, when the device speed is equal to or lower than the set value α, it corresponds to the provision of a dead zone for not operating the determination circuit, and the device control can be further stabilized.

According to the second aspect of the invention, the gain K _P of the pressure controller circuit or the gain K _v of the valve opening controller circuit is made variable so that the followability with respect to the command value is improved.

According to the third aspect of the present invention, by utilizing the signs of the front pressure detection value S10 and the device speed detection value S9, stable control can be performed while simplifying the control mechanism.

[0038]

BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment of the present invention shown in the drawings will be described.

FIG. 1 is a hydraulic circuit diagram of the variable damping device of the present invention, which is basically the same as the hydraulic circuit of FIG. 10 described above, and the description of the overlapping parts will be omitted. It should be noted that since it is comprehensively shown in relation to the inventions according to claims 1 to 3, a configuration that is unnecessary in relation to each claim is also included.

In the hydraulic circuit diagram of FIG. 1, in contrast to the hydraulic circuit diagram of FIG. 10, the relative speed between the cylinder 2 and the piston 3 of the apparatus main body is detected according to the invention of claim 1 or 2. A speed sensor 41 is provided for outputting the device speed detection value S9 and sending it to the damping force controller 13.

Further, in accordance with the invention of claim 3, the front pressure of the flow rate adjusting valve 12 is detected by the pressure sensor 42, and the front pressure detection value S10 is sent to the damping force controller 13.

FIG. 2 is a block diagram showing the configuration of the damping force controller 13 used in the variable damping device according to the first aspect of the present invention. The damping force controller 13 includes a command value judgment circuit 24, a pressure controller 25, and a valve opening. And a circuit such as the controller 26.

In the command value judgment circuit 24, first, the device speed detection value S9 is compared with the set value α set for providing the dead zone, and when S9 <α, the value corresponding to the damping force command value S1 is always the pressure command. Output as the value S2. When S9 ≧ α, the damping force command value S1 sent from the damping force determination means such as the computer 14 (see FIG. 7) and the hydraulic pressure detection value S
6, the sign of the differential pressure value S8 obtained from S7 is judged, and when these are different signs, the flow rate adjusting valve 12 (large flow rate switching valve 1
A value corresponding to the value of 2a) at which the opening is fully opened is output to the pressure controller 25 and the valve opening controller 26 as the valve opening command value S3.

Next, in the pressure controller 25, with respect to the pressure command value S2 sent from the command value judgment circuit 24,
The differential pressure value S8 is fed back and the valve opening command value S3 is output.

Further, for the valve opening command value S3, the valve opening controller 26 sets the valve opening detection value S5 corresponding to the actual opening of the flow rate adjusting valve 12 sent from the valve opening sensor 22. Feedback and valve opening control command value S
4 is output to adjust the opening of the flow rate adjusting valve 12. By adjusting the opening degree of the flow control valve 12, an optimal damping force is generated in the apparatus main body to suppress the vibration of the structure.

FIG. 3 is a block diagram showing the configuration of the damping force controller 13 used in the variable damping device according to the second aspect of the present invention.
The circuit includes a command value determination circuit 24, a pressure controller 25, a valve opening controller 26, and the like.

In the command value judgment circuit 24, the computer 1
Damping force command value S sent from damping force determination means such as 4
1 and the sign of the differential pressure value S8 obtained from the hydraulic pressure detection values S6, S7 are determined, and when these are the same sign, the value corresponding to the damping force command value S1 is set as the pressure command value S2, and they have different signs. In this case, a value corresponding to the value at which the opening of the flow rate adjusting valve 12 is fully opened is output to the pressure controller 25 and the valve opening controller 26 as the valve opening command value S3.

Next, in the pressure controller 25, with respect to the pressure command value S2 sent from the command value judgment circuit 24,
The differential pressure value S8 is fed back, and the gain K _P is
The valve opening command value S3 is adjusted according to the magnitude of the pressure command value S2 or the difference between the pressure difference value S8 and the pressure command value S2.
Is output.

Further, in response to the valve opening command value S3, the valve opening controller 26 sets the valve opening detection value S5 corresponding to the actual opening of the flow rate adjusting valve 12 sent from the valve opening sensor 22. Feedback and gain K
_v is adjusted according to the magnitude of the pressure command value S2 or the pressure deviation between the pressure difference value S8 and the pressure command value S2, the valve opening control command value S4 is output, and the opening degree of the flow rate adjusting valve 12 is adjusted. Adjust. By adjusting the opening degree of the flow control valve 12, an optimal damping force is generated in the apparatus main body to suppress the vibration of the structure.

In FIG. 4, the gain K _{P of the} pressure controller or the gain K _v of the valve opening controller (both K _P and K _v may be variable or only one may be variable) is set to the pressure command value S2. 6 is a graph for explaining an example of an adjustment method in the case of adjusting based on FIG.

When the pressure command value S2 is smaller than a certain pressure value P _min , the gain K _P or the gain K _v is increased,
Improves the followability of the device. When the pressure command value S2 is larger than a certain pressure value P _max , the gain K _P or the gain K _v is reduced to improve the stability of the device. Further, the gain is linearly changed between P _min and P _max .

In FIG. 5, the gain K _{P of the} pressure controller or the gain K _v of the valve opening controller is set to the pressure command value S2.
6 is a graph for explaining an example of an adjusting method when adjusting based on the pressure deviation of the differential pressure value S8.

When the pressure deviation is smaller than ΔP _min , the gain K _P or the gain K _v is reduced to improve the stability of the device. When the pressure deviation is larger than ΔP _max ,
The gain K _P or the gain K _v is increased to improve the followability of the device. Further, the gain is linearly changed between P _min and P _max .

FIG. 6 is a block diagram showing the configuration of the damping force controller 13 used in the variable damping device according to the third aspect of the present invention.
The circuit includes a command value determination circuit 24, a pressure controller 25, a valve opening controller 26, and the like.

In the variable damping device according to the third aspect of the present invention, the hydraulic pressure detection values S6 and S7 are not used, and in the command value judgment circuit 24, the damping force command value S1 sent from the damping force judgment means such as the computer 14, Device speed detection value S that gives the device speed
The signs of 9 are judged, and when these are the same sign, the value corresponding to the damping force command value S1 is taken as the pressure command value S2, and when these are different signs, the opening degree of the flow rate adjusting valve 12 is fully opened. A value corresponding to the value is output as the valve opening command value S3 to the pressure controller 25 and the valve opening controller 26, respectively.

Next, in the pressure controller 25, with respect to the pressure command value S2 sent from the command value judgment circuit 24,
Although the front pressure detection value S10 is fed back, the front pressure detection value S10 ≧ 0 is always satisfied, and the front pressure detection value S10 is corrected by multiplying it by the sign of the device speed detection value S9, and the valve opening command value S3 is output.

Further, for the valve opening command value S3, the valve opening controller 26 sets the valve opening detection value S5 corresponding to the actual opening of the flow rate adjusting valve 12 sent from the valve opening sensor 22. Feedback and valve opening control command value S
4 is output to adjust the opening of the flow rate adjusting valve 12.

[0058]

The control computer has only to judge the optimum damping force to be generated by the variable damping device based on the response of the structure, and it is not necessary to incorporate the operating state of the variable damping device into the judging means, which is efficient. It becomes possible to control.

Compared to the case of using a driving means such as an actuator, by supplying a very small amount of energy, it is possible to generate a vibration control force equivalent to that of an actuator in the form of a damping force.

A change in the device characteristics due to a change in the oil temperature of the hydraulic oil of the variable damping device does not occur.

By applying the variable damping device of the present invention to a variable damping / variable rigid structure, the damping force generated by the variable damping device is changed with respect to a disturbance such as a seismic motion input to the structure to change the damping force of the structure. Gives optimal damping according to the characteristics,
It is possible to reduce the response amount of the structure, secure safety, and realize a comfortable living space.

In the variable damping device according to the first aspect, when the device speed is equal to or lower than the set value α, the dead zone is provided so that the determination circuit is not activated, so that the device control can be further stabilized.

In the variable damping device according to the second aspect, the gain K _P of the pressure controller circuit or the gain K _v of the valve opening controller circuit is made variable, so that the followability with respect to the command value and the control stability are improved. It

In the variable damping device according to the third aspect, by using the signs of the front pressure detection value S10 and the device speed detection value S9, it is possible to simplify the control mechanism and perform stable control.

[Brief description of drawings]

FIG. 1 is a hydraulic circuit diagram showing a basic structure of a variable damping device of the present invention.

FIG. 2 is a block diagram of a damping force controller portion used in the variable damping device according to claim 1.

FIG. 3 is a block diagram of a damping force controller portion used in the variable damping device according to claim 2;

FIG. 4 is a graph for explaining an adjusting method when the gain K _{P of the} pressure controller or the gain K _v of the valve opening controller is adjusted based on the pressure command value S2.

FIG. 5 shows the gain K _{P of the} pressure controller or the gain K _v of the valve opening controller as the pressure command value S2 and the differential pressure value S.
8 is a graph for explaining an adjusting method when adjusting based on the pressure deviation of No. 8;

FIG. 6 is a block diagram of a damping force controller portion used in the variable damping device according to claim 3;

FIG. 7 is a schematic diagram showing an example of an overall system of a vibration control structure using a variable damping device.

FIG. 8 is a front view showing an example of the form of a variable damping device.

FIG. 9 is a front view showing an example of the installation position of the variable damping device in the frame.

FIG. 10 is a hydraulic circuit diagram showing the basic structure of a conventional variable damping device.

FIG. 11 is a block diagram showing an example of a damping force controller portion used in a conventional variable damping device.

[Explanation of symbols]

S1 ... Damping force command value, S2 ... Pressure command value, S3 ... Valve opening command value, S4 ... Valve opening control command value, S5 ... Valve opening detection value, S6, S7 ... Oil pressure detection value, S8 ... Differential pressure Value, S9 ... Device speed detection value, S10 ... Front pressure detection value, 1 ... Variable damping device, 2 ... Cylinder body, 3 ... Piston, 4 ... Piston rod, 6 ... Hydraulic chamber, 8 ... Outflow prevention check valve, 9 ... check valve for inflow prevention, 10 ... flow path for inflow, 11 ... flow path for outflow, 12 ... flow rate adjusting valve, 12a ... large flow rate switching valve, 12
b ... shut-off valve, 13 ... damping force controller, 14
... computer, 15 ... inlet port, 16 ... outlet port, 17 ... back pressure port, 18 ... bypass flow passage, 19 ... accumulator, 20 ... spindle, 21 ... throttle, 22 ... valve opening sensor, 23 ... pressure sensor, 24 ... Command value judgment circuit, 25 ... Pressure controller, 26 ... Valve opening controller, 27 ... Spool, 28 ... Spring, 29 ... Slit, 3
1 ... Frame having variable damping device, 33 ... Pillar, 34 ... Beam,
35 ... Seismic resistant element, 41 ... Device speed sensor, 42 ... Front pressure sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshinori Matsunaga 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Within Kashima Construction Co., Ltd. (72) Naoki Niwa 1-2-7 Moto-Akasaka, Minato-ku, Tokyo No. Kashima Construction Co., Ltd. (72) Inventor Hironori Sasaki 234 Matsumoto, Higashiya-cho, Nishi-ku, Kobe-shi, Hyogo Kawasaki Saki Heavy Industries, Ltd. Nishi-Kobe Plant (72) Naoshi Shinohara 234 Matsumoto, Hashiya-cho, Nishi-ku, Kobe Address Kawasaki Heavy Industries Co., Ltd.Nishi-Kobe factory

Claims (3)

[Claims] 1. A cylinder connected to a frame main body of a structure and one of the seismic resistant elements or seismic resistant elements, and a cylinder connected to the other of the frame main body and seismic resistant elements or seismic resistant elements, and reciprocating in the cylinder. A rod-type piston, hydraulic chambers provided on both sides of the piston, a flow path connecting the hydraulic chambers, a flow rate adjusting valve provided in the flow path, and an opening of the flow rate adjusting valve are controlled. In the variable damping device for a vibration control structure having a control means for controlling the damping force, the control means determines a damping force to be generated by the device based on a response of the structure due to a vibration external force, and a value corresponding to the damping force. And a valve opening degree detecting means for detecting an opening degree of the flow rate adjusting valve and outputting a value corresponding to the opening degree as a valve opening degree detection value S5. Oil in both hydraulic chambers And a subtraction circuit for outputting a value corresponding to the difference between the two hydraulic pressure detection values S6 and S7 as a differential pressure value S8. A device speed detecting means for detecting a relative speed of the cylinder and the piston and outputting a value corresponding to the speed as a device speed detection value S9; and a case where the device speed detection value S9 is smaller than a set value α, or When the signs of the damping force command value S1 and the differential pressure value S8 are judged to be the same, the value corresponding to the damping force command value S1 is set as the pressure command value S2, and the device speed detection value S9 is set.
Is a set value α or more and the sign of the damping force command value S1 is different from the sign of the differential pressure value S8, a value corresponding to a value at which the opening of the flow rate adjusting valve is fully opened is set. A command value determination circuit that outputs a command value S3, and a pressure controller that feedbacks the differential pressure value S8 to the pressure command value S2 to correct it and output a valve opening command value S3 corresponding to the corrected value. A circuit, and a valve opening controller circuit that feeds back the valve opening detection value S5 to the valve opening command value S3 for correction, and outputs a valve opening control command value S4 corresponding to the correction value. A variable damping device for a seismic control structure, comprising: an actuation unit that actuates the flow rate adjusting valve based on the valve opening control command value S4. 2. A cylinder connected to the frame body of the structure and one of the seismic resistant elements or the seismic resistant elements, and a cylinder connected to the other of the frame body and the seismic resistant element or the seismic resistant elements, and reciprocating in the cylinder. A rod-type piston, hydraulic chambers provided on both sides of the piston, a flow path connecting the hydraulic chambers, a flow rate adjusting valve provided in the flow path, and an opening of the flow rate adjusting valve are controlled. In the variable damping device for a vibration control structure having a control means for controlling the damping force, the control means determines a damping force to be generated by the device based on a response of the structure due to a vibration external force, and a value corresponding to the damping force. And a valve opening degree detecting means for detecting an opening degree of the flow rate adjusting valve and outputting a value corresponding to the opening degree as a valve opening degree detection value S5. Oil in both hydraulic chambers And a subtraction circuit for outputting a value corresponding to the difference between the two hydraulic pressure detection values S6 and S7 as a differential pressure value S8. And the sign of the damping force command value S1 and the sign of the differential pressure value S8 is determined. If the sign is the same, the value corresponding to the damping force command value S1 is the pressure command value S2, and if the sign is different, A command value determination circuit that outputs a value corresponding to a value at which the flow control valve is fully opened as a valve opening command value S3, and the differential pressure value S8 is fed back to the pressure command value S2 for correction. The pressure controller circuit that outputs the valve opening command value S3 corresponding to the correction value and the valve opening detection value S5 is fed back to the valve opening command value S3 to perform correction, and the correction value Valve opening control command value equivalent to A valve opening controller circuit which outputs a 4, based on the valve opening control command value S4, consists of a hydraulic means for actuating said flow control valve, the gain K _P or the valve opening degree controller circuit of the pressure controller circuit The variable damping device for a seismic control structure is characterized in that the gain K _{v of} is variable according to the magnitude of the pressure command value S2 or the pressure deviation between the pressure difference value S8 and the pressure command value S2. . 3. A cylinder connected to one of a frame body and a seismic resistant element or a seismic resistant element of a structure, and a cylinder connected to the other of the frame body and a seismic resistant element or a seismic resistant element, and reciprocating in the cylinder. A rod-type piston, hydraulic chambers provided on both sides of the piston, a flow path connecting the hydraulic chambers, a flow rate adjusting valve provided in the flow path, and an opening of the flow rate adjusting valve are controlled. In the variable damping device for a vibration control structure having a control means for controlling the damping force, the control means determines a damping force to be generated by the device based on a response of the structure due to a vibration external force, and a value corresponding to the damping force. And a valve opening degree detecting means for detecting an opening degree of the flow rate adjusting valve and outputting a value corresponding to the opening degree as a valve opening degree detection value S5. The cylinder and piston A relative speed of ton is detected, and a device speed detecting means for outputting a value corresponding to the speed as a device speed detection value S9, a front pressure of the flow rate adjusting valve is detected, and a value corresponding to the front pressure is set to a front pressure. The pre-pressure detecting means for outputting as the detection value S10 and the sign of the damping force command value S1 and the device speed detection value S9 are judged, and in the case of the same sign, a value corresponding to the damping force command value S1 is given as a pressure command. As a value S2, in the case of a different sign, a command value determination circuit that outputs a value corresponding to a value at which the opening of the flow rate adjusting valve is fully opened as a valve opening command value S3, and the pressure command value S2, A pressure controller that feeds back a value obtained by multiplying the front pressure detection value S10, which is always a positive value, by the sign of the device speed detection value S9 to perform correction, and outputs a valve opening command value S3 corresponding to the correction value. Circuit and the valve opening command value S3 Then, based on the valve opening control command value S4, a valve opening controller circuit for feeding back and correcting the valve opening detection value S5 and outputting a valve opening control command value S4 corresponding to the correction value. And a variable damping device for a seismic control structure.