JPS60211515A - Controlling device of vibration - Google Patents
Controlling device of vibrationInfo
- Publication number
- JPS60211515A JPS60211515A JP6718984A JP6718984A JPS60211515A JP S60211515 A JPS60211515 A JP S60211515A JP 6718984 A JP6718984 A JP 6718984A JP 6718984 A JP6718984 A JP 6718984A JP S60211515 A JPS60211515 A JP S60211515A
- Authority
- JP
- Japan
- Prior art keywords
- vibration
- force
- polarity
- actuator
- level
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は、高架道路等の低周波振動を制御する振動制
御装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a vibration control device for controlling low frequency vibrations of elevated roads and the like.
一般に、高架道路は、第１図に示すような構造で地中深
く埋設された基礎上に橋脚ｆｉ＋が固定されており、そ
の上に橋梁（２）を架持している。従来このような構成
の高架道路において、自動車等が。Generally, an elevated road has a structure as shown in FIG. 1, with piers fi+ fixed to foundations buried deep in the ground, and a bridge (2) mounted thereon. Conventionally, on elevated roads with such a configuration, cars, etc.
上記橋梁（２）上を走行すると、上記橋１νＩＨ及び上
記橋梁（２）に、第１図の点線で示すような振動が生じ
ていた。この振動は低周波振動であるため地面を通じ１
周辺の建造物を振動させるいわゆる低周波公害として大
きな社会問題となっている。しかし寿から、その対策と
して補強等が施こされていたが、振動系が多少変わるだ
けで根本的な対策とはなっていなかった。When the vehicle traveled on the bridge (2), vibrations as shown by the dotted lines in FIG. 1 were generated in the bridge 1νIH and the bridge (2). This vibration is a low frequency vibration, so it passes through the ground.
It has become a major social problem as so-called low-frequency pollution that causes surrounding buildings to vibrate. However, since Kotobuki, reinforcement has been implemented as a countermeasure, but it was not a fundamental countermeasure as it only slightly changed the vibration system.
第２図は、従来梁の振動を制御するいわゆるテンドン方
式の振動制御装置の実施例を示す。FIG. 2 shows an embodiment of a so-called tendon type vibration control device for controlling the vibration of a conventional beam.
図中、梁（２）は両端を支持台（３）で架持されている
。In the figure, a beam (2) is supported at both ends by support stands (3).
（４）はｊ梁（２）の振動を検出する加速度計、（５）
は上記加速度計（４）の加速度信号を速度信号に変換す
る積分器、（６１＆’ｊ、電力増幅器、（７）はモータ
等で代表されるアクチュエータ、（８）はアーム、（９
）は上記アクチュエータ（７）の力を伝達する連接ロッ
ドである。以上の構成の振動制御装置において、外力に
より梁（２）が振動が生じると、この梁（２）に取付け
られた加速度計（４）により振動加速度が検出される。(4) is an accelerometer that detects the vibration of the j-beam (2), (5)
is an integrator that converts the acceleration signal of the accelerometer (4) into a speed signal, (61&'j, power amplifier, (7) is an actuator represented by a motor, (8) is an arm, (9)
) is a connecting rod that transmits the force of the actuator (7). In the vibration control device having the above configuration, when the beam (2) vibrates due to an external force, the vibration acceleration is detected by the accelerometer (4) attached to the beam (2).
この加速ハ〔信号は積分器（５）により、速度に変換さ
れたのち、電力増幅器（６）を経由して、アクチュエー
タ（７）に送られる。このアクチュエータ（７）では、
この振動速度に比例した制御力Ｖを連接ロンド（９）に
与え。This acceleration signal is converted into velocity by an integrator (5) and then sent to an actuator (7) via a power amplifier (6). In this actuator (7),
A control force V proportional to this vibration speed is applied to the connecting iron (9).
アーム（８）を介して、制御モーメン）Ｍとして、梁（
２）の振動の減衰を高めるように作用させて振動を低減
している。Via the arm (8), the beam (
2) The vibration is reduced by acting to increase vibration damping.
このときの運動方程式は、つぎのようになる。The equation of motion at this time is as follows.
Ｍ ｘ −１−ｃ ｘ 十Ｋ ｘ −Ｆ −Ｖ ・”ｆ
ｌ）１１ ０１ １１ ｅｘ
Ｖ−Ｃｘ ・・・（２）
１
ここに、 Ｍｌ、 Ｃｏ、 Ｋ、はそれぞれ梁（２）の
質量。M x -1-c x 10K x -F -V ・”f
l) 11 01 11 ex V-Cx...(2) 1 Here, Ml, Co, and K are the masses of the beam (2), respectively.
減衰定数、バネ定数である。ｘｌは梁（２）の振動変位
、Ｆ は外力、■は制御力であり、Ｃ４は減衰を与える
ゲイン定数である。These are the damping constant and the spring constant. xl is the vibration displacement of the beam (2), F is the external force, ■ is the control force, and C4 is a gain constant that provides damping.
しかしながら、従来の振動制御装置においては。However, in conventional vibration control devices.
梁（２）の振動速度； に比例した制御力を発生させす
るため、振動速度；、が大きなときは、アクチュエータ
（７）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。Since a control force is generated that is proportional to the vibration velocity of the beam (2), when the vibration velocity is large, an excessive control force is required from the actuator (7), resulting in an increase in the scale of the vibration control device. It had
この発明は、上記の欠点を除くもので、アクチュエータ
（７）で発生さ−ぎる制す１１力■を梁（２）の振動速
を判別して、この極性に応じた一定な力を作用させるこ
とにより、小規模なアクチュエータ（７）で振動を減衰
させる振動制御装置を提供するものである。This invention eliminates the above-mentioned drawbacks by determining the vibration speed of the beam (2) and applying a constant force according to the polarity of the force generated by the actuator (7). This provides a vibration control device that damps vibrations using a small-scale actuator (7).
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３図は、この発明の摂動制御装置の一実施例を示す図
であり、 ＋２１ 、 ＋３１ 、 ｆｉｌ 、 （５
１、Ｃ６１、＋７１ 、 （８１。FIG. 3 is a diagram showing an embodiment of the perturbation control device of the present invention, where +21, +31, fil, (5
1, C61, +71, (81.
（９）は第２図と同様である。（４）は梁（２）の加速
度を検出する加速度計、（５）は加速度信号を速度信号
に変換する積分器、０旧ま速度信号の極性を判別する極
性判別器で、ＯＶを参照電圧とするコンパレータ回路で
代表される。Ｑｌｌは極性判別器θ０の極性に応じて、
正負の直流電圧を発生する電圧発生器、（６）は電圧発
生器ａυの出力電圧を増幅し、アクチュエータ（７）を
駆動する電力増幅器、０粉は振動速度の正負のレベル判
定を行なうレベル判定器、（１２はレベル判定器Ｑ３１
の指令により制御をＯＮ１０ ＦＦする切替器である。(9) is the same as in FIG. (4) is an accelerometer that detects the acceleration of beam (2), (5) is an integrator that converts the acceleration signal into a speed signal, and a polarity discriminator that determines the polarity of the speed signal, using OV as the reference voltage. This is represented by a comparator circuit. Qll depends on the polarity of the polarity discriminator θ0,
A voltage generator that generates positive and negative DC voltages, (6) is a power amplifier that amplifies the output voltage of the voltage generator aυ and drives the actuator (7), and 0 is a level determination that determines the positive and negative levels of vibration speed. (12 is level judge Q31
This is a switch that turns the control ON10FF according to the command.
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、制御力の波形を示す。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の動
作を簡単に説明する。今梁（２）に外力が加わり振動を
生ずると、加速度計（４）により検出され。The operation of the vibration control device of the present invention having the above configuration will be briefly described. When an external force is applied to the beam (2), causing vibration, it is detected by the accelerometer (4).
積分器（５）で振動速度に変換された後、振動速度の極
性を極性判別器ａ〔で判別される。その後電圧発生器旧
）で極性に応じた正負の電圧を発生させ、電力増幅器（
６）を経由してアクチュエータ（７）に一定な大きさの
制御力を発生させて梁（２）の振動を減衰させている。After being converted into a vibration velocity by an integrator (5), the polarity of the vibration velocity is determined by a polarity discriminator a. After that, the voltage generator (old) generates positive and negative voltages depending on the polarity, and the power amplifier (old) generates positive and negative voltages depending on the polarity.
6), a control force of a constant magnitude is generated in the actuator (7) to damp vibrations of the beam (2).
またレベル判定器θ尋は、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替器ｕ２をＯＮ
Ｌ制御を行なっている。In addition, the level determiner θhino determines the level of vibration speed,
Turn on switch u2 only when the vibration speed is above a certain level
L control is being performed.
この発明による制御力■は次式で与えられる。The control force (■) according to this invention is given by the following equation.
■−ｖＳＯＮ（ｘｌ）・・・（３） ここで。■-vSON(xl)...(3) here.
Ｖ ；一定な定数
５ＧＮ（ｘ）；振動速度の極性に応じて次の値を持つ記
述関数
すなわち、第１式、第２式に対応した運動方程式は次式
のようになる。V; constant 5GN(x); descriptive function having the following value depending on the polarity of the vibration velocity, that is, the equation of motion corresponding to the first and second equations is as shown in the following equation.
ｖ −Ｖ ８ＧＮ （Ｘ、） −（ｆｉ１第（４）式の
梁（２）の運動方程式において、制御力■はクーロン摩
擦力と等価な減衰力として作用することになり、梁（２
）の振動を減衰させることができる。v −V 8GN (X,) −(fi1In the equation of motion of the beam (2) in equation (4), the control force ■ acts as a damping force equivalent to the Coulomb friction force, and the beam (2
) vibrations can be damped.
以上この発明によれば、アクチュエータ（７）の制電力
として、梁（２）の振動速度の極性に応じた一定な減衰
力を梁（２）に作用させることにより、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, by applying a constant damping force to the beam (2) according to the polarity of the vibration speed of the beam (2) as a damping force of the actuator (7), even when the vibration level is large, A vibration control device that reduces vibration of a structure with limited control power can be provided.
第１図は高架道路の斜視図、第２図は従来の振動制御装
置を利用した公知例を示す図、第３図はこの発明の一実
施例を示す図、第４図はこの発明の動作を示す図である
。
図中、（１）は橋脚、（２）は橋梁、（３）は支持台、
（４）は加速度剖、（５）は積分器、（６）は電力増幅
器、（７）はアクチュエータ、（８）はアーム、（９）
は連接ロッド、 １ｌｌ）は極性判別器、αＤは電圧発
生器、０渇は切替器、α鴫はレベル判定器である。
なお図中同一あるいは相当部分には同一符号を付して示
しである。
代理人 大岩増雄FIG. 1 is a perspective view of an elevated road, FIG. 2 is a diagram showing a known example using a conventional vibration control device, FIG. 3 is a diagram showing an embodiment of the present invention, and FIG. 4 is an operation of the present invention. FIG. In the figure, (1) is a pier, (2) is a bridge, (3) is a support platform,
(4) is acceleration analyzer, (5) is integrator, (6) is power amplifier, (7) is actuator, (8) is arm, (9)
is a connecting rod, 1ll) is a polarity discriminator, αD is a voltage generator, 0 is a switch, and α is a level judge. In the drawings, the same or corresponding parts are designated by the same reference numerals. Agent Masuo Oiwa
Claims (1)
検出手段と、上記振動体の２点間を結ぶ連接ロッドと、
上記連接ロッドに制御力を伝達し得るアクチュエータと
、上記振動検出手段により検出された上記振動体の振動
速度の極性に応じた正負の一定な制御力を発生できるよ
う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 vibrating body that vibrates in response to an external force; a connecting rod connecting two points of the vibrating body;
an actuator capable of transmitting a control force to the connecting rod; and a controller controlling the actuator so as to generate a constant positive or negative control force according to the polarity of the vibration speed of the vibrating body detected by the vibration detection means. A vibration control device characterized by comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6718984A JPS60211515A (en) | 1984-04-04 | 1984-04-04 | Controlling device of vibration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6718984A JPS60211515A (en) | 1984-04-04 | 1984-04-04 | Controlling device of vibration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60211515A true JPS60211515A (en) | 1985-10-23 |
Family
ID=13337700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6718984A Pending JPS60211515A (en) | 1984-04-04 | 1984-04-04 | Controlling device of vibration |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60211515A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2637663A1 (en) * | 1988-10-06 | 1990-04-13 | Ishikawajima Harima Heavy Ind | VIBRATION DAMPING SYSTEM |
| DE4008568A1 (en) * | 1989-03-16 | 1990-09-20 | Topexpress Ltd | METHOD AND DEVICE FOR ACTIVE CONTROL OF VIBRATIONS |
-
1984
- 1984-04-04 JP JP6718984A patent/JPS60211515A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2637663A1 (en) * | 1988-10-06 | 1990-04-13 | Ishikawajima Harima Heavy Ind | VIBRATION DAMPING SYSTEM |
| DE4008568A1 (en) * | 1989-03-16 | 1990-09-20 | Topexpress Ltd | METHOD AND DEVICE FOR ACTIVE CONTROL OF VIBRATIONS |
| DE4008568C2 (en) * | 1989-03-16 | 2000-01-20 | Active Noise & Vibration Tech | Vibration control device for preventing the propagation of vibrations |
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