JPS59187130A - Vibration control device - Google Patents
Vibration control deviceInfo
- Publication number
- JPS59187130A JPS59187130A JP58060179A JP6017983A JPS59187130A JP S59187130 A JPS59187130 A JP S59187130A JP 58060179 A JP58060179 A JP 58060179A JP 6017983 A JP6017983 A JP 6017983A JP S59187130 A JPS59187130 A JP S59187130A
- Authority
- JP
- Japan
- Prior art keywords
- vibration
- polarity
- structural body
- movable mass
- actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F7/00—Vibration-dampers; Shock-absorbers
- F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
- E04H9/02—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
- E04H9/021—Bearing, supporting or connecting constructions specially adapted for such buildings
- E04H9/0215—Bearing, supporting or connecting constructions specially adapted for such buildings involving active or passive dynamic mass damping systems
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Environmental & Geological Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
Description
【発明の詳細な説明】
この発明は、建物、高架道路、タワー等構造物の低周波
振動を制御する振動制御装置に係り、詳しくは構造物の
撮動を、構造物に設けた可動質量の運動によって制御す
る振動制御装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a vibration control device that controls low-frequency vibrations of structures such as buildings, elevated roads, and towers. The present invention relates to a vibration control device that is controlled by motion.
一般に、建物、高架道路、タワーは、低周波の固有振動
数をもつ減衰の小さい振動系として考えられ、風、地震
、走行車輛等による外力が加わることにより固有振動数
の撮動が励起され、共振現象により大きな振動レベルと
なることが知られている。In general, buildings, elevated roads, and towers are considered as low-damping vibration systems with low natural frequencies, and the imaging of natural frequencies is excited by the application of external forces such as wind, earthquakes, and moving vehicles. It is known that resonance phenomena result in large vibration levels.
一般に、構造体に生ずる振動を防止するのに、マスダン
パが用いられていた。このマスタンパは、第１図に示す
ごとく、質量ＭＳの構造体ｆｌｌｊｃバネ定数Ｋｄを有
するバネ（２）と、アクチュエ タ（３）を介して質量
Ｍｄの可動質量（４）が可動自在に取付けられている。Generally, mass dampers have been used to prevent vibrations occurring in structures. As shown in Fig. 1, this master tamper includes a structure having a mass MS, a spring (2) having a spring constant Kd, and a movable mass (4) having a mass Md movably attached via an actuator (3). ing.
この可動質量（４）は、構造体（１）の振動速度に比例
した逆向きの制御力を制御器（図示せず）の指示によっ
てアクチー呈−タ（３）から与えられ。This movable mass (4) is given a control force in the opposite direction proportional to the vibration velocity of the structure (1) from the actuator (3) according to instructions from a controller (not shown).
構造体（１）の振動を減衰させている。このときの運動
方程式は次のようになる。The vibrations of the structure (1) are damped. The equation of motion in this case is as follows.
Ｍｓｘｓ＋０ｓｘｓ＋Ｋｓｘｓ＋Ｋｄ（Ｘｓ−ｘｄ）＝
Ｆ−Ｕ ・−・・・・・・・（
１１Ｍｄｘｄ十Ｋｄ （ｘｄ−ｘｓ） ＝Ｕ
ｆ２１ここにｌＸ８は構造体（ＩＩの変位、Ｃ８は構
造体（１１の減衰定数、に８は構造体（１１のバネ定数
。Msxs+0sxs+Ksxs+Kd(Xs-xd)=
F-U ・・・・・・・・・・・・(
11Mdxd 10Kd (xd-xs) =U
f21 where lX8 is the displacement of the structure (II), C8 is the damping constant of the structure (11), and 8 is the spring constant of the structure (11).
ｘｄは可動質量（４）の変位、Ｆは外力、Ｕは制御力で
ある。xd is the displacement of the movable mass (4), F is the external force, and U is the control force.
上記のように従来の撮動制御装置は、構造体（ＩＩの撮
動速Ｊｆ交ｓに比例した制御力ＵＵ＝Ｏｍｘｓ
・・・・・・・・・（３）を（Ｃｍはゲイ
ン定数）アクチュエータ（３）で発生させ、可動質量（
４）を構造体（１）の振動を止める向きに動かし振動を
減衰させている。As mentioned above, the conventional imaging control device has a control force UU=Omxs proportional to the imaging speed Jf of the structure (II).
......(3) is generated by the actuator (3) (Cm is a gain constant), and the movable mass (
4) is moved in a direction to stop the vibration of the structure (1), thereby damping the vibration.
しかしながら、従来の振動制御装置においては、構造体
（１）の撮動速度ｉｓに比例した制御力を発生させるた
め、振動速度妥８が大きなときは、アクチーエータ（３
）に過大な制御力が要求され、振動制御装置の規模が大
きくなる欠点を有していた。However, in the conventional vibration control device, in order to generate a control force proportional to the imaging speed is of the structure (1), when the vibration speed is large, the actuator (3
) requires an excessive control force, which has the drawback of increasing the scale of the vibration control device.
この発明は、上記の欠点を除くもので、アクチュエータ
（３）で発生させる制御力Ｕを構造体（１）の撮動速度
ｘｓに比例したものとせず、振動速度ｘｓの極性を判別
して、この極性に応じた一定な減衰力を作用させること
により、小規模なアクチュエータ（３）で振動を減衰さ
せる撮動制御装置を提供するものである。This invention eliminates the above-mentioned drawbacks, and instead of making the control force U generated by the actuator (3) proportional to the imaging speed xs of the structure (1), the polarity of the vibration speed xs is determined. By applying a constant damping force depending on the polarity, an imaging control device is provided that damps vibrations using a small-scale actuator (3).
以下図面に従って、この発明の一実施例を説明する。An embodiment of the present invention will be described below with reference to the drawings.
第２図は、この発明の振動制御装置の一実施例を示す図
であり、（３１は、建物、タワー等外力で振動する構造
体（１）に固定されたアクチーエータで、可動コア（５
）と固定コア（６）とよ構成９．この可動コア（５）の
先端には、可動質量（４）が固定されている。FIG. 2 is a diagram showing an embodiment of the vibration control device of the present invention. (31 is an actuator fixed to a structure (1) that vibrates due to external force, such as a building or a tower, and a movable core (5
) and fixed core (6) and configuration 9. A movable mass (4) is fixed to the tip of this movable core (5).
この可動質量（４）はバネ（２）によって構造体（１１
と連結している。This movable mass (4) is connected to the structure (11) by a spring (2).
It is connected with.
（７）は構造体（１１の撮動を検出する加速縫針、（８
）は加速度計（７）の加速度信号を受けて、信号変換し
アクチュエータ（３）に指令を出す制御器である第３図
は、制御器（８）の構成例を示したもので、 （８ａ
）は加速度計（刀の加速度信号７ｉ−速度信号に変換す
る積分器、 （８ｂ）は上記積分器（８ａ）の信号で
ある速就信号の極性を判別する極性判別器で。(7) is an accelerating sewing needle that detects the imaging of the structure (11);
) is a controller that receives the acceleration signal from the accelerometer (7), converts the signal, and issues a command to the actuator (3). Figure 3 shows an example of the configuration of the controller (8). (8a
) is an accelerometer (acceleration signal 7i of the sword) - an integrator that converts it into a speed signal, and (8b) is a polarity discriminator that determines the polarity of the speed signal, which is the signal from the integrator (8a).
０■を参照電圧とするコンパレータ回路で代表される。It is represented by a comparator circuit that uses 0■ as a reference voltage.
（８ｃ）は極性判別器（８ｂ）の極性に応じて、正負の
直流電圧を発生する電圧発生器、 （８ｄ）は１ＭＬ
圧発生器（８ｃ）の出力電圧を増幅し、アクチュエータ
（３１ヲ駆動する電力増幅器、 （８ｅ）は。(8c) is a voltage generator that generates positive and negative DC voltage according to the polarity of the polarity discriminator (8b), (8d) is 1ML
A power amplifier (8e) amplifies the output voltage of the pressure generator (8c) and drives the actuator (31).
振動速度の正負のレベル判定するレベル判定器、 （
８ｆ）は、レベル判定器（８ｅ）の指令により制御を０
Ｎ１０１”Ｆする切換器である。Level judgment device that judges the positive and negative levels of vibration speed, (
8f) is controlled to 0 according to the command from the level judger (8e).
This is a switch that performs N101”F.
第４図は、この発明の振動制御装置の動作を示す図であ
り、振動速度、電圧発生器出力、制（財）力の波形を示
す。FIG. 4 is a diagram showing the operation of the vibration control device of the present invention, showing waveforms of vibration speed, voltage generator output, and control force.
以上のような構成からなるこの発明の振動制御装置は、
構造体＋１１に外力が加わり、振動を起こすと、加速度
計（７）により検出され、積分器（Ｓａ）で振動速度に
変換され、振動速度の極性を極性判別器（８ｂ）で判別
した後、電圧発生器（８ｃ）で極性に応じた正負の電圧
を発生させ、電力増幅器（８ｄ）を経由してアクチュエ
ータ（３）で一定な制御力を可動質量（４）と構造体＋
１１との間に作用させ、構造体（１）の振動を減衰させ
ている。The vibration control device of the present invention having the above configuration is as follows:
When an external force is applied to the structure +11 and it vibrates, it is detected by the accelerometer (7), converted to vibration speed by the integrator (Sa), and the polarity of the vibration speed is determined by the polarity discriminator (8b). A voltage generator (8c) generates positive and negative voltages depending on the polarity, and a constant control force is applied to the movable mass (4) and the structure + via the power amplifier (8d) to the actuator (3).
11 to damp the vibrations of the structure (1).
また、レベル判定器（８ｅ）は、振動速度のレベルを判
定し、あるレベル以上の振動速度のときのみ切換器（８
ｆ）をＯＮＬ制御を行っている。Further, the level determiner (8e) determines the level of the vibration speed, and only when the vibration speed is above a certain level, the switch (8e)
f) is subjected to ONL control.
この発明による制御力Ｕは次式で与えられるＵ ＝Ｕ、
ＳＧＮ （女ｓ ） （４１ここで
Ｕｏ＝一定な定数
５ＧＮ（＊）： 振動速度の極性に応じて次の値をも
つ記述関数である。The control force U according to this invention is given by the following formula: U = U,
SGN (female s) (41 where Uo = constant constant 5GN (*): It is a descriptive function that has the following value depending on the polarity of the vibration speed.
ｘｓ）０のときＳＯＮ （ｉｓ）＝１
＊ ｓ ＝ ０のとき８ＯＮ （ｉｓ ） ＝ＯｉＢ〈
０のとき５ＧＮ（ｘｓ）＝ １すなわち、第（ｌ）、
第（２）式に対応した運動方程式は９次式となる。xs) When 0, SON (is) = 1 * When s = 0, 8ON (is) = OiB〈
When 0, 5GN(xs) = 1, that is, the (l)th,
The equation of motion corresponding to equation (2) is a ninth-order equation.
Ｍｓｘｓ＋０ｓｘｓ＋Ｕ６ ＳＧＮ （ｘｓ）＋Ｋｄ
（ｘｓ−ｘｃＮ ＝Ｆ ・＝−−−−（５
１Ｍｄｘｄ＋Ｋｄ（ｘｄ−ｘｓ）＝’［ＪｏＳＧＮ（Ｍ
ｓ）・・・・・・・・・（６）
第（５）式の構造体（１１の運動方柱式において、制両
力Ｕは、クーロン摩擦力と等価な減衰力とし す。Msxs+0sxs+U6 SGN (xs)+Kd
(xs-xcN =F ・=----(5
1Mdxd+Kd(xd-xs)='[JoSGN(M
s) ・・・・・・・・・(6) In the structure of equation (5) (11 motion column equation), the restraining force U is a damping force equivalent to the Coulomb friction force.
て作用することになり、構造体（１１の振動を減衰させ
ることができる。Therefore, the vibration of the structure (11) can be damped.
以上この発明によれば、アクチュエータ（３）の制御力
として、構造体（１）の振動速度の極性に応じた一定な
減衰力を構造体＋１１と可動質量（４）の間に作用させ
ることによυ、大きな振動レベルのときも、限られた制
御力で構造体の振動を低減する振動制御装置が提供でき
る。As described above, according to the present invention, a constant damping force corresponding to the polarity of the vibration velocity of the structure (1) is applied between the structure +11 and the movable mass (4) as the control force of the actuator (3). Therefore, it is possible to provide a vibration control device that reduces the vibration of a structure with limited control force even when the vibration level is large.
第１図は、一般のマスダンパーの振動モデル図、第２図
は、この発明による実施例を示す図、第３図は第２図に
示した制御器の構成図、第４図はこの発明の動作を示す
図である。
図中、（１）は構造体、（３）はアクチュエータ、（４
）は可動質量、（７）は加速度計、（８）は制御器、
（８ａ）は積分器、 （８ｂ）は、極性判別器、
（８ｃ）は電圧発生器、 （８ｄ）は電力増幅器、
（８ｅ）はレベル判定器、 （８ｆ）は切換器で
ある。
なお９図中同一符号は同−又は相当部分を示代理人 大
岩増雄Fig. 1 is a vibration model diagram of a general mass damper, Fig. 2 is a diagram showing an embodiment according to the present invention, Fig. 3 is a configuration diagram of the controller shown in Fig. 2, and Fig. 4 is a diagram of the invention. FIG. In the figure, (1) is a structure, (3) is an actuator, and (4) is a structure.
) is the movable mass, (7) is the accelerometer, (8) is the controller,
(8a) is an integrator, (8b) is a polarity discriminator,
(8c) is a voltage generator, (8d) is a power amplifier,
(8e) is a level judge, and (8f) is a switch. In addition, the same reference numerals in the 9 figures indicate the same or corresponding parts. Agent: Masuo Oiwa
Claims (1)
検出手段と、上記構造体の振動方向に往復動する可動質
量と、上記構造体に固定され、上記可動質量を駆動する
アクチーエータと、上記振動検出手段により検出された
構造体の振動速度の極性に応じた正負の一定な制御力を
上記構造体と可動質量との間に作用させるように上記ア
クチュエータを制御する制御器とを備えたことを特徴と
する振動制御装置。a vibration detection means for detecting the vibration speed of a structure vibrating in response to an external force; a movable mass that reciprocates in the vibration direction of the structure; an actuator fixed to the structure and driving the movable mass; and a controller that controls the actuator so that a constant positive and negative control force is applied between the structure and the movable mass in accordance with the polarity of the vibration speed of the structure detected by the vibration detection means. A vibration control device featuring:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58060179A JPS59187130A (en) | 1983-04-06 | 1983-04-06 | Vibration control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58060179A JPS59187130A (en) | 1983-04-06 | 1983-04-06 | Vibration control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59187130A true JPS59187130A (en) | 1984-10-24 |
Family
ID=13134663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58060179A Pending JPS59187130A (en) | 1983-04-06 | 1983-04-06 | Vibration control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59187130A (en) |
-
1983
- 1983-04-06 JP JP58060179A patent/JPS59187130A/en active Pending
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