JPS63217075A - Hydraulic type vibration damping apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a vibration damping device for structures, and more particularly, to prevent the shaking of structures due to earthquakes and wind, and to reduce the vibration of structures with more lOi layers. This invention relates to vibration damping devices installed in structures to enable construction and provide comfortable living with less shaking.

(Prior art) Structures such as buildings and steel towers generally have only small damping elements, and when subjected to dynamic disturbances such as wind and earthquakes,
m Structures resonate and low frequency vibrations are likely to occur.

Particularly in mid-to-high-rise buildings, livability is a problem for photographing with louse and earthquake shade.

In order to suppress the above-mentioned imaging of the structure, there is a method of adding a damping element to the structure to lower the response magnification during resonance.

This method involves attaching passive damping elements to the structure;
By absorbing the vibration energy of the structure, a passive imaging control device is installed to reduce disturbances, and a vibration damping control device is installed on the structure, and vibration damping energy is supplied from the outside to proactively control the structure. There are active vibration control devices that aim to reduce vibrations of objects.

The active type has the disadvantages of the passive type: (1) It is difficult to damp the vibration mode of the reconstruction of the structure at the same time.

<2) The i++ vibration effect is reduced when the properties of the structure change. (3) It is difficult to achieve a large vibration reduction effect.

It is attracting attention for its ability to improve things.

A conventional active vibration control device is shown in FIG.

A linearly movable additional mass 2 is installed on the top of the structure 1, and the additional mass 2 is moved by an actuator 3 fixed to the structure 1. A support spring 4 exists between the additional mass 2 and the actuator 3, and maintains the neutral position of the additional mass 2 (=j).

When an external force is applied to structure 1, 1 installed on 4r4 structure 1
The acceleration of the structure is detected by the kinetic sensor 5 and inputted to control: ≦7. The additional mass velocity detected by the sensor is also input to the controller Z. In the controller 2, the structure velocity is obtained from the structure acceleration using the integrator 1/S, the deviation between this and the above-mentioned additional mass velocity is taken, and this signal is amplified by the power amplifier a, and the output voltage V and the additional mass velocity are calculated as the actuator current. Make square 2 lucky. In other words, the vibration of structure 1 which is resonating due to external force! The actuator 3 moves the additional mass 2 according to jlffi, and the reaction force of the additional mass 2 at this time cancels the external force of the structure 1 and suppresses vibration.

(Problems to be Solved by the Invention) However, according to the above conventional example, since the additional mass is magnetically operated by the actuator, a large aI is required.
ll I! In order to obtain the effect, the actuator must be larger and vibration damping'! & There was a problem that the m-length ratio of the device body was 111.

In addition, in the conventional example, the movement of the additional mass is controlled using the speed of the structure and additional mass as data, but various factors are involved in the vibration of the structure, and the speed of the structure and additional mass alone is not sufficient. There was a problem in that it was not possible to control the vibration damping effect.

The present invention has been made in view of the problems of the conventional example, and an object of the present invention is to provide a hydraulic vibration damping device that uses hydraulic pressure to damp the vibration of a structure and controls the vibration damping of the structure from various variables.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a vibration control device comprising an additional mass movable in the direction of graining of a structure and a means for avoiding movement of the additional mass. The mass is connected to a hydraulic cylinder fixed to a structure, and the displacement of the structure, f'' displacement of the mass, and other states '1! It consists of a state variable detection means for determining l number of state numbers, and an arithmetic unit for calculating a control input that minimizes the evaluation function, and supplies oil to nth hydraulic cylinders in response to this control input signal U.

The state variable detection means detects various vibration-related variables, with the resting state (2) being O, as a state variable vector (O) from sensors installed on the structure or additional mass. In the arithmetic unit, the control input signal @U is determined by u=Iry, where the optimal feedback vector [·le is r]. The optimal feedback vector 1 is designed to minimize the quadratic evaluation function and is given by r=-r 1bI).

Here IP is P/A ten KIP -IP lb v-'
This satisfies the Riccuti matrix equation of lb'IP + Q -0.

1r is a weight matrix of the control human power U, and prevents reaching an unrealizable solution t11 where the input power becomes infinite.

(2) is a weight matrix for state variables, and a large weight is assigned to a state variable that is desired to be controlled accurately.

A and To are matrices obtained from the structure, the contribution of the additional mass, the spring constant, the damping constant, and the characteristics of the hydraulic cylinder.

(Function) Since the present invention is configured as described above, If! When the structure vibrates, the state variable detection means installed in the structure and the additional mass detect a signal based on the stationary state, and the
In the section, the optimal regulator 1g! A control input that minimizes the evaluation function is determined by theory, and this control input signal is output. This output signal supplies oil to the hydraulic cylinder,
The additional mass is reciprocated to absorb the swing J energy of the structure and reduce the number of images of the structure.

(Example) An example of the present invention will be described with reference to the drawings.

Fig. 4 shows a side view of 52 vibration damping Pi devices placed on the top of the structure, and Fig. 5 shows its plan view.

A rectangular parallelepiped additional mass 2 is installed at the top of the structure 1. A cylinder 6 is attached to the circumferential surface of each additional mass 2, and one end of a rod @7 of the cylinder 6 is connected to a wall 8 erected on the horizontal pickle 1 so as to surround the added mass 2. A hydraulic unit 9 that supplies oil to the cylinder 6 is installed in the center of the additional mass 2.

Wheels 10 are attached to the bottom of the additional mass 2, and the additional mass 2 can be freely moved on a horizontal surface surrounded by a wall 8 depending on how oil is supplied to the four cylinders. In addition, the horizontal surface surrounded by the wall 8 reduces the friction force and the wheel 1
0 is easier to move.

FIG. 1 shows a model diagram of an embodiment of the present invention.

An additional mass 2 that is movable by a cylinder 6 is attached to the upper part of the structure 1. In FIG. 1, for the sake of simplicity, the additional mass 2 is moved by one cylinder. The structure 1 and the additional mass 2 swing horizontally, but in the model diagram, they swing vertically.

Detect the displacement X,, X, of the slip. Displacement×1,×2
is structure 1. The state in which the additional mass 2 is stationary is assumed to be O, and the values are positive and negative.

The signal from the displacement detection means is input to a controller Z consisting of a state variable δ subtractor W and an arithmetic unit y. State variable setting part W
Now, from the displacements X, , X, of the structure and additional mass 2, the relative displacement X2 (Xi XI) of structure 1 and additional mass 2, and Find the velocity length and the state variable of relative velocity x 2.

Further, the speed etc. of the structure 1 can be directly determined by providing the structure 1 with a speed detection means or a speed signal generator.

These signals are input to the calculation unit y, and are calculated as ×4, ×2',
The optimal f(-txhect, ILzff=(f+, ft, f3,
Multiply r, , r, , r, , r4 of f, ), add each value, and control input u=f, x, +f2x
, +f, moxibustion, +f, x2.

The control human power U output from the controller 2 is adapted to energize a solenoid 155 that activates the spool 14 of the servo valve 13. Among the three boats provided on the hydraulic pressure supply side of the servo valve 13, the center boat 16 is connected to the pump P.
(not shown), and the right boats 17 and 18 each communicate with a tank T (not shown). Servo valve 1
The two boats 19 and 20 provided in the cylinder 3 communicate with the top of the cylinder 6, respectively.

In the model diagram shown in FIG. 1, the leakage of oil from the seal portion of the cylinder 6 is taken into consideration, and the flow of oil is modeled using the throttles R, R, and a tank.

Assuming that the structure 1 receives external forces such as wind or earthquake and begins to sway upward in FIG.
．． 12, this signal is input to the controller Z, and the control human power U is paralyzed v4.

Control input (1 energizes solenoid 15, servo valve 1
Slide the spool 14 of No. 3 to the right in FIG. When the spool 14 moves to the right, the boat 17 is closed,
Oil from the pump P flows to the boats 16, 20, and the lower cylinder chamber, pushing up the screws 1 to 1 in the cylinder 6, and the oil in the upper cylinder chamber is led to the tank T via the boats 19 and 18. .

As a result, the rod 7 of the cylinder 6 slides, causing the additional mass 2 to move upward, which is the same side, behind the movement of the structure 1 (Figure 1 is a model, so the rod 7 is activated in the direction perpendicular to t41). ).

When the structure 1 swings downward, the sign of the control human power U is reversed, the spool 14 of the servo valve 13 slides in the opposite direction, and the direction of movement of the additional mass 2 is also reversed. Therefore, by applying a control force in the opposite direction to the external force to the structure by the reaction force generated by moving the additional mass 2, the vibration of the structure 1 is reduced.

Then the optimal feedback vector ff = <f,
, f2, r, , f,) will be explained.

1. Let the system differential equation outside J be [, the force acting between structure 1 and additional mass 2 be U
, the quality of structure 1 is Ml, the damping constant of structure 1 is C1,
When the spring constant of the structure is reduced to , the equation of motion of the object is F−L+=M+
To + X +
(1) becomes.

If the mass of the additional mass is M, the equation of motion of the additional mass is IJ-MI
(2) becomes.

The pressure receiving area of the cylinder is △, the pressure in each chamber of the cylinder is ρ,
P2, the damping constant of the cylinder is C7, the spring constant of the cylinder is -xl)-K
t (Xl - XI > (3).

The equation of continuity in cylinder 33 is: C3 is the flow that flows into the cylinder from the servo valve, C7 is the flow that flows out from the cylinder to the servo valve, and C is the flow a that leaks from each cylinder chamber to the outside.
3.C4.If the flow leaking from the lower cylinder chamber to the upper cylinder chamber in Fig. 1 is Q, then RV+ / -Q+ -A (XI -Q + ) -
Qs −Ql (4)RV+ , /
-Ql +A (x, -Ml) -〇a +Qt (
5).

In a model that takes into account the flow from the cylinder chamber, R
,l';1. If is the aperture coefficient, the aperture formula is Q, -R,P.

Q, -R,P.

Q, −R, (P, −P, >
(6) becomes.

Next, consider the characteristics of the servo valve.

Assuming that the rated fi flow of the servo valve is lr, the rated flow is Qr, and the supply pressure is Ps, when i≧0, Ql - (i / Ir ) Ql (Pa - 1/35
(7) Q, -(i/Ir) Qr7? "π'3
5 (8) If 1<0, Ql = (: / ] r ) orE f5 (9) 0
+ −(i, 'Ir) Qr (Ps −P+)
/35 (10).

2. Linearization of differential equations (7) to (10) to the equilibrium point (P, -P,.
. Linearize at the near end of i-i,), take ΔF as a disturbance, and write the equation of state% (
12) Expressed as. At this time, matrices A and 1b each have 4 rows and 4
It becomes a matrix with 1.4111 columns, and each element of the matrix has a size of 1.

△1. −〇 △IL”’0 Δ1, -1 Δl and 10 △2. −〇 △1, -〇 A,,-O A, 4-1 A,, --ni, /M.

A,, -ni, /M.

Δ,,--C,/M.

A,,-(L/M, ) (2A'/(β+R+
+2Rt)-←C,)A,,-to, /M.

A,, --Ki (MI +M+) /M+ M
To y8-〇,/M.

to〇−−((M, +M, ) /M, M, ) (
2Δ'/(β+R+ 4-2R1) +C1lb,,-
.

b>, -.

bl, --(1/M, > (2Aα/(β+R1+2R
+ ) )b4+ −(MI +lv4./M+ l
vk ) (2Aα/(β+R, +2R,)) Here, if the output vector y is set to constant fi-, the output equation becomes as follows.

W-Cr 3. Design of optimal Ray Lake (12) In the control rIa system expressed by equation (14), design an R-universal regulator that minimizes equation (15).

Since the control human power U is set to scalar, the input weighting coefficient ``is also set to scalar.

If the size matrix Q for the state variable is jj <, then the SiV number J is the weighting coefficient corresponding to
Control systems can be freely designed from those with large iH effects to those with small iH effects.

The R retraction force U° is the optimal feedback vector t''-(f
, , r, , f, , f, ) is expressed as follows (u"-Δ:'), u"J@y-f
+Δx, +4. Δx,'+4. Δx, +f, Δj'
(18) A block diagram of the control system is shown in FIG.

The optimal feedback vector 0 that minimizes J expressed by equation (15) is given by the general formula (19). However, IP is a positive definite unique solution that satisfies the following Norikatti matrix equation.

PA+A P-P Ib r Ib1p+o-o
(20) Upper) In the book example, the state variable Beta 1 Hell is the displacement of structure 1 x 3, the relative displacement of additional mass 2 with respect to structure 1 x 2, the velocity moxibustion 1 of structure 1, and the structure 1. Expressed as relative velocity of additional mass 2 x 2, pond g
- i.e. the displacement x of the structure 1 in the braking device installation position
3. Displacement of additional mass 2 x 2, Displacement of the bottom of structure 1 or the ground x O1 Relative displacement of additional mass 2 with respect to structure 1 x 7, Pressure in each cylinder chamber P1, P2% Servo valve 13
The displacement of the spool 14×,d. It is also possible to extract important elements for control from among these and express the state variable vector.

In this case, it is appropriate for the needle (West function J) to be as follows.

(a) When y − (x, x2x, x,), ru”)d
t (b) When y= (x, x, x, x2) (c) When (XI X2 XI XI DI D?) When considering the compressibility of oil, it is effective to add p+ 02 It is.

rlJ') dt when rLI') dt or throat ru2) dt or J-ha (I IX +÷q, x, +ru') d
FIG. 2 shows another embodiment of the present invention, in which a variable pump 20 is used as a means for driving the oil cylinder 6.

The control human power U from the controller Z is input to the tilting angle control device "a21," and within this tilting angle control device "t111, the control human power U is converted into a signal for driving the pilot valve by a controller roller. - The pressure applied to the ThJ variable pump 21 is adjusted by driving the valve.The variable pump 21 automatically changes the flow ffi in response to the pressure of the tilt angle control W device 22.The other configuration is the embodiment shown in FIG. However, when setting the state variable vector ×, the displacement of the spool ×,
Replace it with the tilt angle command X of 1.

(Effects of the Invention) As described above, the present invention performs control based on the optimal regulator theory using the 'e number such as the displacement of a structure related to imaging as a state variable. By increasing the weight, it becomes possible to perform control suitable for counterfeits, and 1 AI of the additional mass,
Since the vibration stroke of the additional mass can be designed efficiently,
It is possible to downsize the vibration damping device.

Furthermore, since the additional mass is configured to be moved by a hydraulic cylinder, the vibration damping device can be made more compact since a large amount of force can be exerted with a small device. As a result, the heavy load on the structure is reduced, the strength of the structure can be reduced, the weight of the structure itself can be reduced, and even taller structures can be built.

[Brief explanation of the drawing]

FIG. 1 shows an actual IM column of the present invention! 2 is a model diagram showing another embodiment, FIG. 3 is a block diagram of the control system, FIG. 4 is a side view of the vibration damping device of the present invention, and FIG. 5 is a diagram of the vibration damping device. The plan view, FIG. 6, is a model diagram of a conventional vibration damping device. 1...Structure 2...Additional mass 6.
...Cylinder 11.12...Displacement detection means (state variable detection means) W...State variable setting section y...ii!
[Part 0 2...Controller Filed on March 4, 1986 Kayabae Gyo Co., Ltd. Figure 4 Figure 5

Claims (1)

[Scope of Claims] A vibration control device comprising an additional mass movable in the vibration direction of a structure and means for moving the additional mass, the additional mass being connected to a hydraulic cylinder fixed to the structure, State variable detection means for determining the state quantities of state variables related to the displacement of the structure with the static state as 0, the displacement of the additional mass, and the vibration of other structures, and a control input that minimizes the evaluation function using optimal regulator theory. 1. A hydraulic vibration damping device, comprising: a calculation unit that calculates a control input signal, and supplies oil to the hydraulic cylinder according to the control input signal.