JPS59187131A - Vibration control device - Google Patents

Abstract

PURPOSE:To reduce an insensitive range due to friction by making the controlling force of an actuator actuating a moving mass to be a sum of a controlling force proportionate to the vibratory speed of a vibratory body and a controlling force equivalent to the frictional force of a movable mass. CONSTITUTION:When a vibratory body 1 is excited by an external force, the vibratory speed of the vibratory body 1 as sensed by an accelerometer 7 is sent to an actuator 3 through an integrator 8a, a totalizer 8d and a power amplifier 8e. The relative speed between the vibratory body 1 and a movable mass 4 is detected by a relative speedometer 9 and is added to the vibratory speed of the vibratory body 1 by the totalizer 8d after going through a polarimeter 8b and a vibration generator 8c. Since the output by the voltage generator 8c causes the actuator 3 to generate a force negating the frictional force, an insensitive range due to the frictional force is solved.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a vibration control device that controls vibrations generated in a vibrating body by controlling the vibrations by the movement of a movable mass provided on the vibrating body.

To prevent vibrations that generally occur in vibrating bodies.

The mass damper was not used properly. As shown in Fig. 1, this mass damper has a vibrating body (with a mass M5) with a spring (2) having a spring constant and a movable mass (4) of the mass mounted movably via an actuator (3). I'm also n.

This movable mass (4) is provided with a control force in the opposite direction proportional to the vibration speed of the vibrating body (1) from an actuator (3) according to instructions from a controller (not shown).

The vibrating body (1) moves in the direction of stopping the vibration of the vibrating body (1).
) damps vibrations. The equation of motion in this case is as follows.

Mdxd+Kd(x, 1-Xs)=[J −=--
--t21 where, U is the control force.

As mentioned above, in the conventional vibration control device, the actuator (3) generates a gain constant for the vibrating body, and the movable mass (
4) is moved in a direction to stop the vibration of the vibrating body (1), thereby damping the vibration.

In this vibration control device, since a frictional force FT normally exists between the actuator (3) and the movable mass (4), at a vibration level where the control force U is smaller than this frictional force Fr, this Due to the frictional force Fr, the movable mass (4
) does not work, creating a dead zone for the vibration control device, which has the disadvantage of degrading the performance of the vibration control device.

Generally, this frictional force can be represented by something called Crohn's friction and is expressed by a linear equation.

Fr = Fo 8GN (Xs ”d) --・
--= f3) FO; Constant constant S GN (XS xs-xd) = 1 Furthermore, the equation of motion when the frictional force Fr expressed by n in equation (3) acts is linear.

MSXS+O8K$ 10Kgxs+Kd(xSx6)=
F U f41MdXd+Kd(Xd Xs)+
FoSON (x, -xd) = U (51U = O
mxs That is; “In the region of +Ul≦IFOI, the imaging object (1
No damping force will act on 1. Therefore, the dead zone of this imaging control device is as follows.

The present invention eliminates the above-mentioned drawbacks, and provides a vibration control device that reduces the dead zone by adding, as the control force U, a control force proportional to the vibrating body speed XS and a control force that cancels out the frictional force Fr. This is what we provide.

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2 is a diagram showing an embodiment of the vibration control device of the present invention, in which (3) is an actuator fixed to a moving object (1) such as a building or a tough object, and a movable core (51) and a fixed actuator. core(
6), and the tip of this movable core (5) has an ri
T# mass (4 times: fixed n).

The stiff movable mass (4) is connected to the vibrating body (1) by the spring (2).
The movable core (5) reciprocates in accordance with the reciprocating motion of the movable core (5).

(7) is an accelerometer that detects the imaging of the vibrating body (11).

(8) is a controller that receives the acceleration signal, converts the signal, and issues a command to the actuator (3).

(9) is a relative velocity meter that detects the relative velocity X 5 Xd between the vibrating body (1) and the movable mass (4).

FIG. 3 shows an example of the configuration of the control W (8).
8a) is an integrator that converts the acceleration signal of the accelerometer (7) into a velocity signal, and z (sb) is a polarity discriminator that discriminates the polarity of the relative velocity of the relative velocity meter (9). (8d) is an adder that adds the output signals of the integrator (8a) and the voltage generator (8C); 8
e) is a power amplifier that drives the actuator (3).

In this imaging control device having the above configuration, when an external force is applied to the vibrating body (1) and it causes vibration, the vibration acceleration of the N-FC vibrating body (1) is detected by an accelerometer (accelerometer), and the vibration acceleration of the N-FC vibrating body (1) is calculated by integrating (8a), adder (8d) and power amplifier (8e)
) and sent to the actuator (3). or,
Relative velocity xs-xd between the moving object (1) and the movable mass (4)
is detected by the relative speed meter (9), and the polarity discriminator (sb)
, via the voltage generator (8c) and the adder (8d),
It is added to the vibration speed xs of the vibrating body ill.

The output of the voltage generator (8c) causes the actuator (3) to generate a control force that cancels the frictional force expressed by equation (3).

Therefore, the control force U generated by the actuator (3)
' becomes linear.

U'==Cmx30F(18ON(xg x(1)
・=---18) The control force U′ shown in equation (8) is
When entering U in equation (5), equation (5) becomes equation (2), and the dead zone of the vibration control device due to the frictional force Fr becomes n.

As described above, according to the present invention, the control force of the actuator (3) is a control force proportional to the vibration speed of the vibrating body (1).
By adding a control force equivalent to the friction force of the single moving mass (4), it is possible to provide a vibration control device in which a dead zone due to the friction force is reduced.

[Brief explanation of the drawing]

Figure 1 is a vibration model diagram of a general mass damper. FIG. 2 is a diagram showing an embodiment according to the invention, and FIG. 3 is a diagram showing an embodiment according to the invention.
It is a block diagram of the controller shown in the figure. In the figure, (1) is the vibrating body, (3) is the actuator, (4) is the movable mass, and (7)
is the accelerometer, (8) is the controller, (8a) is the integrator, (
8b) is a polarity discriminator + (8C) is a voltage generator, (8d
) is an adder, (8e) is a power amplifier, and (9) is a relative speed meter. Note that the same reference numerals in the two figures indicate the same or equivalent parts. Agent Masuo Oiwa

Claims (1)

[Claims] vibration detection means for detecting the vibration speed of a structure that vibrates in response to an external force; a movable mass that reciprocates in the vibration direction of the structure; and an actuator that is fixed to the structure and drives the movable mass; a relative velocity meter for detecting the relative velocity between the structure and the movable mass; a control force proportional to the vibration velocity of the structure detected by the vibration detection means; and a control force corresponding to the frictional force of the movable mass. and a controller for controlling the actuator so as to add and output the vibration city 1] side 1 device.