KR101471148B1 - Vibration shielding apparatus and earthquake-proof generator having the same - Google Patents

Vibration shielding apparatus and earthquake-proof generator having the same Download PDF

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Publication number
KR101471148B1
KR101471148B1 KR1020140094126A KR20140094126A KR101471148B1 KR 101471148 B1 KR101471148 B1 KR 101471148B1 KR 1020140094126 A KR1020140094126 A KR 1020140094126A KR 20140094126 A KR20140094126 A KR 20140094126A KR 101471148 B1 KR101471148 B1 KR 101471148B1
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KR
South Korea
Prior art keywords
bed
vibration
actuator
shield
controller
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KR1020140094126A
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Korean (ko)
Inventor
서정기
이형기
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주식회사 대흥기전
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Priority to KR1020140094126A priority Critical patent/KR101471148B1/en
Application granted granted Critical
Publication of KR101471148B1 publication Critical patent/KR101471148B1/en
Priority to PCT/KR2015/007387 priority patent/WO2016013804A1/en

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    • 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
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/24—Casings; Enclosures; Supports specially adapted for suppression or reduction of noise or vibrations

Abstract

The present invention relates to a vibration shielding device for shielding transmission of vibration to an object and a vibration isolation device to which the vibration shielding device is applied. The vibration shielding device includes a box-shaped shielding box, a bed mounted with a movable object in the interior space of the shielding box, A spring damper inserted between the shield and the bed, an actuator for braking the expansion and contraction of the spring damper by a damping force varying according to the vibration of the shield, and an actuator for controlling the damping force of the actuator based on the vibration of the shield. And a controller for controlling the actuator by outputting a signal.

Description

Vibration shielding apparatus and earthquake-proof generator having the same

To a vibration shielding device for shielding vibration transmission to an object and a seismic generator to which the vibration shielding device is applied.

Facilities such as generators, motors, pumps, measuring instruments and the like have characteristics in which performance is deteriorated due to vibrations caused by vibration sources such as earthquakes. In recent years, large and small earthquakes have caused numerous casualties and property damage in many parts of the world. Various attempts have been made to minimize such damages, such as inventory of national disaster systems, strengthening of seismic design of buildings.

Generators are installed in factories, government offices, hospitals, etc. to supply the minimum emergency power when self-generated power is cut off from commercial power. The conventional generator can not substantially suppress the vibration of the generator because the anchor bolt for fixing the generator and the stopper for preventing conduction of the generator are prepared for the earthquake. Accordingly, if the generator fails to withstand the vibration of the earthquake and fails, the generator can not produce emergency power, and accordingly can not supply the necessary power for disaster relief, thereby causing serious social harm.

Research is underway to use a magneto-rheological damper to remove the vibration of facilities due to earthquakes. The EM damper is a very expensive component and has a limitation in being generally used for vibration elimination. In particular, large-scale equipment such as emergency generators require a large air damper in order to remove the vibration of the large-sized equipment due to its weight, and there have been few cases where large facilities are actually applied. In addition, the prior art has not been able to completely eliminate high speed irregularly changing vibrations caused by earthquakes.

A vibration shielding device capable of preventing vibrations from being irregularly changed at a high speed and at a low cost to be transmitted to an object and also allowing the position of the bed to be always fixed in view of the gravity space, . Another object of the present invention is to provide an earthquake-resistant generator to which such a vibration-shielding apparatus is applied. The present invention is not limited to the above-described technical problems, and another technical problem may be derived from the following description.

According to an aspect of the present invention, there is provided a vibration shielding apparatus comprising: a box-shaped shielding box installed on a base plate of a space in which an object is installed; A bed on which the object is mounted and installed so as to be movable in an inner space of the shielding case; At least one spring damper inserted between the shielding case and the bed and being expanded and contracted according to a change of a gap between the shielding case and the bed due to the vibration of the shielding case; At least one actuator interposed between the shielding case and the bed for braking the expansion and contraction of the spring damper by a damping force varying with the vibration of the shielding case; And a controller for controlling the at least one actuator by generating a signal for controlling the damping force of the at least one actuator based on the vibration of the shield and outputting the signal to the at least one actuator.

The length of each of the actuators is changed in accordance with a change in the distance between the shield and the bed, and the damping force acts in a direction to resist a change in the length of each actuator, so that the expansion and contraction of the spring damper can be braked. Wherein each of the actuators includes a cylinder attached to one inner side surface of the shield, a piston attached to one inner side surface of the bed and moving inside and outside the cylinder, and an electric signal Wherein the movement of the piston is braked by the viscosity of the fluid so that the viscosity of the fluid can form the damping force. Wherein each of the actuators further includes a coil positioned inside the cylinder and forming a magnetic field from an electric signal output from the controller, wherein the fluid is a magnet having a viscosity varying with a magnitude of a magnetic field formed by the coil, Lt; / RTI > fluid.

Wherein the at least one spring damper comprises a plurality of spring dampers inserted between the inner side of the shield and the outer side of the bed facing each other in the lateral direction of the bed and the inner side of the shield and the inner side of the bed facing each other in the longitudinal direction of the bed Wherein the at least one actuator includes at least one actuator inserted between an inner surface of a shielded case in which the spring damper is inserted and an outer surface of the bed, and a plurality of spring dampers inserted between the outer surfaces, And at least one actuator inserted between the inner surface of the shielded case into which the spring damper is inserted and the outer surface of the bed.

The controller generates an adjustment signal for damping force of each actuator for variable braking the expansion and contraction of each spring damper so that the bed moves so as to move the bed in the horizontal direction due to the horizontal vibration of the shield box, So that the actuators can be controlled.

Wherein the controller is configured to feedback the actual position information of the object according to the operation of each actuator controlled by the controller and to calculate a CDIDF AFC (Complex Dual Input Describing Function Adaptive Feedforward Canceller) on the deviation of the actual position of the bed with respect to the reference position of the bed, Algorithm is applied to calculate a signal having a phase opposite to that of the disturbance applied to the object due to the vibration of the shield box, and using the calculated signal, the damping force of each of the actuators So as to move the bed in a direction opposite to the horizontal movement of the bed, it is possible to generate a damping force adjustment signal for each actuator for variable braking of the expansion and contraction of each spring damper.

The controller sets a movement path of the bed opposite to the movement path of the bed predicted according to the vibration waveform of the shield box as the reference position of the bed and outputs actual position information of the bed according to the motion of each actuator controlled by the controller Generating a control signal for damping force of each of the actuators in a direction in which the deviation of the actual position of the bed with respect to the reference position of the set bed is removed so that the bed moves in a direction opposite to the horizontal movement of the bed, It is possible to generate an adjustment signal of the damping force of each actuator for variable braking of the expansion and contraction.

The vibration shielding device according to one aspect of the present invention includes at least one slider installed on a bottom surface of the inner space of the shielding box and horizontally moved in accordance with the horizontal movement of the bed in the inner space of the shielding box while supporting the bed, As shown in FIG. The slider includes a lower plate attached to a bottom surface of the inner space of the shielding box, a cover coupled to the lower plate and covering the upper surface of the lower plate, and a cover formed by the lower plate and the cover in accordance with the horizontal movement of the bed while supporting the bed. And a mover slidably moving between the lower plate and the cover within the space.

According to another aspect of the present invention, there is provided a vibration isolator according to one aspect of the present invention; And a generator mounted on the bed.

An actuator inserted between a shielding box and a bed installed so as to be movable in an inner space of a shielding box changes the damping power in accordance with the vibration of the shielding box, and the spring damper inserted between the shielding box and the bed, It is possible to cope with the vibration of the shield box changing at a high speed with a very small damping force as compared with the load of the object, so that the vibration can be prevented from being transmitted to the object at low cost. Particularly, when the actuator is implemented as an eccentric damper, the eccentric damper is suitable for eliminating vibrations due to rapid changes in the damping force due to a change in the input current, for example, vibrations due to an earthquake.

A plurality of spring dampers are inserted between the inner surface of the shield and the outer surface of the bed, which are opposed to each other in the lateral direction of the bed, and between the inner surface of the shield and the outer surface of the bed, A damper is inserted and at least one actuator is inserted between the inner surface of the shield and the outer surface of the bed in which the spring damper is inserted in the lateral direction and between the inner surface of the shield and the outer surface of the bed in which the spring damper is inserted in the longitudinal direction By inserting the at least one actuator, the lateral component and the longitudinal component of the horizontal vibration of the shield box can be suppressed in parallel, so that no component of the horizontal vibration of the shield box is transmitted to the object.

In addition, a control signal for damping force of each actuator for varying the expansion and contraction of each spring damper is generated and output to each actuator so that the bed moves in opposition to the horizontal movement of the bed due to the horizontal vibration of the shielding box, In contrast to the horizontal movement of the bed due to the horizontal oscillation, it moves in the interior space of the shield so that the position of the bed is always fixed in terms of gravity space, so that the oscillation of the object can be more completely eliminated.

In particular, by applying the CDIDF AFC (Complex Dual Input Describing Function Adaptive Feedforward Canceller) algorithm to the deviation of the actual position of the bed with respect to the reference position of the bed, a signal having a phase opposite to the disturbance applied to the object due to the vibration of the shield, It is possible to prevent the vibration of the shielding box, which is irregularly changed at high speed due to an earthquake or the like, from being transmitted to the object. In addition, by setting the movement route opposite to the movement path of the bed predicted according to the vibration waveform of the shielding box to the reference position of the bed, the motion of the bed can be controlled by predicting the vibration waveform of the shielding box, The vibration of the cabinet can be prevented from being transmitted to the object.

The friction between the shield and the bed is substantially eliminated by at least one slider that is installed on the bottom surface of the inner space of the shield and slides horizontally along the horizontal movement of the bed in the inner space of the shield while supporting the bed, The position of the object in the gravity space in which the object is installed can be fixed more quickly with a small force by utilizing the inertial force according to the mass of the object itself and the variable damping force of the actuator can be precisely applied to the elastic braking of the spring damper The movement of the bed in the inner space of the shielding box can be accurately controlled. As a result, the vibration of the object can be more completely removed.

1 is a perspective view of a vibration shielding apparatus 100 according to an embodiment of the present invention.
2 is a cross-sectional view of the vibration-shielding apparatus 100 shown in Fig.
3 is a longitudinal sectional view of the vibration shielding apparatus 100 shown in Fig.
Fig. 4 is a longitudinal sectional view of each actuator 105 shown in Figs. 1-4.
5 is a longitudinal sectional view of the slider 109 shown in Figs. 2-3.
6 is a cross-sectional view of the slider 109 shown in Figs. 2-3.
7 is a plan view of the slider 109 shown in Figs. 2-3.
Fig. 8 is a diagram showing a vibration model of the plant of the vibration shielding apparatus 100 shown in Figs. 1-3.
FIG. 9 is a diagram showing an electrical model of each elastic damper 105 shown in FIGS. 1-4.
10 is a configuration diagram of the controller 110 shown in Figs. 1-3.
11 is a block diagram of a CDIDF AFC control system applied to the nonlinear controller 1101 shown in FIG.
12 is a detailed block diagram of the CDIDF AFC controller shown in FIG.
13 is a block diagram of the control system of the vibration shielding apparatus 100 shown in Figs. 1-3.
14 is a cross-sectional view of a seismic generator to which the vibration shielding apparatus 100 shown in Figs. 1-3 is applied.
15 is a longitudinal sectional view of the earthquake-resistant generator shown in Fig.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Facilities such as generators, motors, pumps, measuring instruments and the like have characteristics in which performance is deteriorated due to vibrations caused by vibration sources such as earthquakes. The embodiments described below relate to a vibration shielding apparatus for shielding transmission of vibration to such a facility and a seismic generator to which the vibration shielding apparatus is applied. Hereinafter, all the tangible objects to be subjected to vibration shielding as well as the above-mentioned facilities will be referred to as "object ", and all tangible objects to be controlled by the control system of the vibration shielding device are referred to as" .

FIG. 1 is a perspective view of a vibration shielding apparatus 100 according to an embodiment of the present invention, FIG. 2 is a cross-sectional view of the vibration shielding apparatus 100 shown in FIG. 1, Fig. 1-3, the vibration shielding apparatus 100 according to an embodiment of the present invention includes a base plate 101, a shield box 102, a bed 103, Four spring dampers 104, two actuators 105, four anti-vibration devices 106, eight anchor bolts 107, four stoppers 108, 4 A slider 109, a controller 110, a displacement sensor 111, and an earthquake sensor 112.

The base plate 101 is a flat plate provided at the bottom of a space in which the object 10 such as a generator, a motor, a pump, and a measuring instrument is installed as a part corresponding to the base structure of the vibration- The base plate 101 is preferably made of a hard and heavy material, such as concrete, in order to stably support the large object 10 and to react less sensitive to vibration sources such as earthquake. When the bottom surface of the space in which the object 10 is installed is made of concrete or the like, the base plate 101 may be a concrete bottom surface of a space in which the earthquake-proof apparatus is installed. Since the object 10 to be vibration-shielded is generally large and very heavy, the mounting surface of the base plate 101, that is, the upper surface thereof, has the same equilibrium surface energy with respect to the earth's gravity, The base plate 101 is installed.

The shielding case 102 is a box-shaped housing having an opened top surface and is installed on the base plate 101. The vibration of the base plate 101 generated by an earthquake or the like is transmitted to the bed 103 installed in the inner space of the housing Thereby supporting the bed 103 in a structure capable of shielding the bed 103. [ The support structure of the shield box 102 will be described in detail below. The vibration of the base plate 101 is transmitted to the shield box 102 installed on the base plate 101 so that the shield box 102 vibrates .

The vibration of the shield box 102 can be divided into a horizontal component and a vertical component. Here, the horizontal direction is a direction that is parallel to the upper surface of the base plate 101, and the vertical direction is a direction perpendicular to the upper surface of the base plate 101. The horizontal vibration of the shield box 102 can again be divided into a lateral component and a longitudinal component. It will be understood by those skilled in the art that the lateral vibration of the shield box 102 may be represented by lateral oscillation and longitudinal oscillation may be expressed by longitudinal oscillation.

The bed 103 is a horizontally movable frame in the inner space of the shielding case 102 as a rectangular plate-like frame on which the object 10 is mounted. 1-3, the bed 103 is manufactured in the form of a rectangular flat plate having a predetermined thickness so that the object 10 can be easily mounted, but the spring damper 104, the actuator 105, . Thus, the bed 103 is horizontally movably installed in the inner space of the shield box 102, so that the horizontal vibration of the shield box 102 is not directly transmitted to the object 10.

In this embodiment, in spite of the horizontal vibration of the shield box 102, the bed 103 moves in the direction opposite to the movement of the shield box 102 due to the horizontal vibration of the shield box 102, So that the position of the movable member 103 can be fixed as much as possible. As described above, since the object 10 is generally large and very heavy, the vertical vibration of the shield box 102 in which the load of the object 10 is applied is weak compared to the horizontal vibration of the shield box 102 . Accordingly, in order to suppress vertical vibration of the shield case 102, a vibration damper 106 having a simple structure for damping the vibration using only the elastic force of the spring is applied.

Four spring dampers 104 are inserted between the shielding case 102 and the bed 103 and expanded or contracted in accordance with the change of the distance between the shielding case 102 and the bed 103 due to the vibration of the shielding case 102. The four spring dampers 104 include two spring dampers 1041 and 1042 inserted between the inner surface of the shield box 102 and the outer surface of the bed 103 facing each other in the lateral direction of the bed 103, And two spring dampers 1043 and 1044 inserted between the inner surface of the shield box 102 and the outer surface of the bed 103 facing each other in the longitudinal direction of the bed 103. 1-3, each of the spring dampers 104 includes a compression coil spring that is expanded and contracted in accordance with a change in interval between the shield box 102 and the bed 103 due to the vibration of the shield box 102, As shown in FIG. One end of one of the two rods is attached to one end of the compression coil spring and the other end is attached to one inner side of the shield 102 and one outer side of the bed 103. One end of the rod of the other is attached to the other end of the compression coil spring and the other end is attached to the other of the one inner side of the shield 102 and one outer side of the bed 103. [

According to the embodiment shown in Figs. 1-3, a total of four spring dampers 104 are shielded (102) in the longitudinal direction of the bed 103, two in the lateral direction of the bed 103, (Not shown). Thus, in the present embodiment, the four spring dampers 104 are horizontally inserted between the shield box 102 and the bed 103, so that the horizontal components of the vibration of the shield box 102, that is, So that the lateral component and the longitudinal component of the horizontal vibration of the shield box 102 are not transmitted to the bed 103 by being stretched and contracted in accordance with the variation of the lateral spacing and the longitudinal spacing of the bed 102 and the bed 103. At the same time, the four spring dampers 104 prevent the horizontal vibration of the bed 103 from being transmitted to the shield 102 due to driving of the object 10 such as a generator. That is, the four spring dampers 104 prevent the horizontal vibration of the shield box 102 from being transmitted to the object 10 mounted on the bed 103, To the building.

In the meantime, those skilled in the art will appreciate that a larger number of spring dampers can be used for shielding 102 and 103 (see FIG. 1) when the elastic force of the four spring dampers 104 is insufficient for shielding vibration, As shown in FIG. In addition, only one spring damper may be inserted between the shielding case 102 and the bed 103 in order to remove only one of the horizontal component and the longitudinal component of the horizontal vibration of the shield box 102.

2, two lateral spring dampers 1041 and 1042 are disposed between the left inner side surface of the shield box 102 facing each other in the lateral direction of the bed 103 and the left outer side surface of the bed 103 And a right spring damper 1042 inserted between the inner surface of the right side of the shield box 102 and the outer surface of the right side of the bed 103 facing each other in the lateral direction of the bed 103 . The left spring damper 1041 is attached to the left inner side surface of the shield 103 by one end attached to the left inner side surface of the shield 102 and the other end attached to the left outer surface of the bed 103, And can be inserted between the outer side surfaces. The right side spring damper 1042 is attached to the right inner side surface of the shield 102 and the other end is attached to the right outer side surface of the bed 103, As shown in Fig.

3, two longitudinal spring dampers 1043 and 1044 are provided between the inner side of the front side of the shield box 102 facing each other in the longitudinal direction of the bed 103 and the outer side of the front side of the bed 103 Side spring damper 1043 to be inserted between the inner side of the rear side of the shielding box 102 and the rear side of the bed 103 facing each other in the longitudinal direction of the bed 103, . The front side spring damper 1043 is attached to the inner side of the front side of the shielding case 102 at one end and attached to the outer side of the front side of the bed 103 at the other end thereof, And can be inserted between the outer side surfaces. The rear side spring damper 1044 is attached to the rear inner side surface of the shielding case 102 and the other end is attached to the rear side outer side surface of the bed 103, As shown in Fig.

The two actuators 105 are interposed between the shield case 102 and the bed 103 to extend and retract the four spring dampers 104 with a damping force that varies according to the vibration of the shield case 102, do. The two actuators 105 include a transverse actuator 1051 which is inserted between the inner surface of the shield box 102 in which the left spring damper 1041 is inserted in the lateral direction and the outer surface of the bed 103, And a closing actuator 1052 inserted between the inner surface of the shield box 102 into which the damper 1043 is inserted and the outer surface of the bed 103. According to the embodiment shown in Figs. 1-3, one actuator 105 in a longitudinal direction of the bed 103, a total of two actuators 105 in the lateral direction of the bed 103, 103, respectively. As described above, in the present embodiment, the two actuators 105 are horizontally inserted between the shield case 102 and the bed 103, so that the damping force varying according to the horizontal vibration of the shield box 102 causes the lateral spring damper The elastic shafts 1041 and 1042 and the expansion and contraction of the spring dampers 1043 and 1044 in the longitudinal direction are braked so that the horizontal vibration of the object 10 can be immediately attenuated. Thus, the horizontal component and the longitudinal component of the horizontal vibration of the shield box 102 can be suppressed in parallel, so that no component of the horizontal vibration of the shield box 102 is transmitted to the object.

The object 10, the bed 103, and the slider 109, which are located inside the shield box 102 and move in the horizontal direction, will be referred to as a moving body. As described above, in the embodiment shown in Figs. 1-3, four spring dampers 104 and two actuators 1051 and 1052 are used to suppress the horizontal vibration of the object 10. When lateral components of the horizontal vibration of the shield box 102 are applied to the lateral spring dampers 1041 and 1042, the elastic energy of the spring dampers 1041 and 1042 and the elastic energy of the spring dampers 1041 and 1042 attached to the spring dampers 1041 and 1042 Transverse vibrations appear which gradually attenuate as the kinetic energy of the mobile body exchange with each other. The transverse actuator 1051 is used to suppress such lateral vibration. Similarly, when the longitudinal component of the horizontal vibration of the shield box 102 is applied to the longitudinal spring dampers 1043 and 1044, the elastic energy of the spring dampers 1043 and 1044 and the kinetic energy of the moving body are exchanged with each other, A longitudinal vibration is attenuated. The obturator actuator 1052 is used to suppress such longitudinal vibration.

Each of the actuators 105 is an electro-rheological damper that varies the damping force according to the magnitude of the input current by using an electro-rheological fluid whose viscosity increases in proportion to the intensity of the electric field, It can be realized as a magneto-rheological damper that changes the damping force according to the magnitude of the input current by using magneto-Rheological fluid whose viscosity increases in proportion to the intensity. Since there is no commercially available product, the EMD damper is suitable for eliminating vibrations due to high speed change such as earthquake because the response speed of damping force change according to the change of input current is very fast. Hereinafter, each of the actuators 105 embodied as an EM damper will be described in detail.

Those skilled in the art will appreciate that a greater number of actuators may be required to braking the expansion and contraction of the four spring dampers 1041-1044 due to the damping forces of the two actuators 105 Can be inserted between the shielding case 102 and the bed 103. If only two spring dampers are inserted between the shield case 102 and the bed 103 to remove any one of the horizontal component and the longitudinal component of horizontal vibration of the shield 102, Only one actuator may be inserted between the shield case 102 and the bed 103 for braking the expansion and contraction of the damper.

2, the lateral actuator 1051 is disposed between the left inner side surface of the shield box 102 in which the left spring damper 1041 is inserted and the left outer side surface of the bed 103 and the right spring damper 1042 Inserted between the inner surface of the right side of the inserted shielding box 102 and the outer surface of the right side of the bed 103. [ The transverse actuator 1051 is attached to the left inner side surface of the shield 103 by one end attached to the left inner side surface of the shield 102 and the other end attached to the left outer side surface of the bed 103, And the other end is attached to the right outer side surface of the bed 103 so that the right inner side surface of the shielding case 102 and the right outer side surface of the bed 103 are attached to the right inner side surface of the shield 103, Respectively.

Each of the two actuators is inserted between the left inner side surface of the shield box 102 in which the left spring damper 1041 is inserted and the left outer side surface of the bed 103 and the shield 102 in which the right spring damper 1042 is inserted, The length of the left spring damper 1041 controlled by any one actuator and the length of the right spring damper 1042 controlled by another actuator are different from the length of the left spring damper 1041 controlled by any one of the actuators, Should always be the value obtained by subtracting the side length of the bed 103 from the length between the inner side surfaces of the shield 102. Even though the two actuators are controlled to operate in harmony with one another, it is almost impossible for the two actuators to always operate in harmony with each other due to various reasons such as the difference between the products of the two actuators and the degree of deterioration.

In addition, the left spring damper 1041 and the right spring damper 1042 are inserted between the left inner side surface of the shielding case 102 and the left outer side surface of the bed 103 via the bed 103, The right spring damper 1042 is contracted or elongated by the length in which the left spring damper 1041 is stretched or shrunk because it is inserted between the right inner side surface of the case 102 and the right outer surface of the bed 103. [ Therefore, if the length of one of the left spring damper 1041 and the right spring damper 1042 is adjusted by one actuator, the length of the remaining spring damper is automatically adjusted. The lateral actuator 1051 is disposed between the inner side surface of the left side of the shield box 102 in which the left spring damper 1041 is inserted and the outer side surface of the left side of the bed 103 and the shield case 102 and the outer surface of the right side of the bed 103. In this case, In addition, the manufacturing cost of the vibration shielding apparatus 100 may be reduced due to the reduction in the number of actuators.

3, the longitudinal actuator 1052 is provided between the front inner side of the shield box 102 in which the spring damper 104 is inserted in the longitudinal direction of the bed 103 and the front outer side of the bed 103 It may be inserted either between the inner side of the rear side of the shield box 102 and the outer side of the rear side of the bed 103, which are opposed to each other in the longitudinal direction of the bed 103. One side of the closing actuator 1052 is attached to the inner side of the front side of the shielding case 102 and the other side is attached to the outer side of the front side of the bed 103 so that the inner side of the front side of the shielding case 102 and the front side of the bed 103 And the other end is attached to the rear outer side surface of the bed 103 so that the rear inner side surface of the shielding case 102 and the rear outer side surface of the bed 103 are attached to the rear side inner side surface of the shield 103, Respectively. The spring actuator 1042 is inserted between the inner side of the front side of the shield box 102 in which the front spring damper 1043 is inserted and the outer side of the front side of the bed 103 and the rear spring damper 1044 is inserted Or between the inner surface of the rear side of the shielding case 102 and the outer surface of the back side of the bed 103. [

Fig. 4 is a longitudinal sectional view of each actuator 105 shown in Figs. 1-4. 4 shows an example in which each of the actuators 105 is embodied as an earmatic damper. As shown in Figs. 1-3, the length of each actuator 105 changes in accordance with the change in distance between the shield case 102 and the bed 103, and the damping force acts in a direction resisting the change in length of each actuator So that the expansion and contraction of each spring damper 104 is braked. 4, each of the actuators 105 includes a cylinder 41 attached to one inner side surface of the shield case 102, a piston 41 attached to one inner side surface of the bed 103 and moving inside and outside the cylinder 41, A coil 43 which forms a magnetic field 431 from an electric signal output from the controller 110 and is located inside the cylinder 41 and a piston 42 which surrounds the piston 42 in the cylinder 41, And a magneto-Rheological fluid 44 having a viscosity that changes according to an electric signal output from the magnetron 110. Here, the viscosity of the effervescent fluid 44 is changed according to the intensity of the magnetic field formed by the coil 43. [

The cylinder 41 has a cylindrical body 411 having an opening at which the piston 42 enters and exits from the center of one side surface of the cylinder 41. The cylinder 41 has a cylindrical body 411 protruding from the inner surface of the cylinder 41, And a bracket 413 protruding from the other side of the body 411 and attached to one inner side surface of the shield 102. [ The piston 42 is connected to one end of the outer shaft 421 to move the inner shaft 421 inside and outside the cylinder 41 through the opening of the body 411. One end of the outer shaft 421 is connected to the bed 103, And an inner shaft 423 connected to the other end of the outer shaft 421 and positioned in a space formed by the guide member 412. [ The effervescent fluid 44 is filled in the space formed by the guide member 412 and the lower chamber 414.

When the outer shaft 421 is moved further out of the opening of the cylinder 41 and the length of the actuator 105 is increased, the fluid of the fluid 43 is moved from the lower chamber 414 along the arrow shown in Fig. And flows to the upper chamber 415 side. Conversely, if the outer shaft 421 is moved in such a manner that the outer shaft 421 is further inserted into the opening of the cylinder 41 and the length of the actuator 105 is reduced, the magnetic fluid 44 flows in a path opposite to the arrow shown in Fig. 4 do. 4, the coil 43 is press-fitted into the surface of the inner shaft 423, and the electric wire connected to the coil 43 is press-fitted into the center of the piston 42, A magnetic field is formed around the shaft 423. Accordingly, the movement of the inner shaft 423, that is, the movement of the piston 42, is braked by the damping force of the fluid of the fluid 44 whose viscosity changes with the intensity of the magnetic field.

The viscosity of the effervescent fluid 44 is controlled in accordance with the control of the magnitude of the current flowing through the coil 43 so that the damping force of the actuator 105 as the eccentric damper is controlled and as a result the length of the actuator 105 is adjusted And the vibration shielding operation of the vibration shielding apparatus 100 shown in Figs. 1-3 is performed. In other words, the movement of the piston 42 is braked by the viscosity of the effervescent fluid 44, so that the viscosity of the effervescent fluid 44 forms the damping force of the actuator 105. It is to be understood that each actuator 105 may be an air damper of a different form from the example shown in FIG. 4, if it is a person skilled in the art to which the present embodiment belongs. For example, the coil 43 may be press-fitted into the inner surface of the body 411 instead of the surface of the inner shaft 423.

The four vibration isolators 106 are vertically inserted between the upper surface of the base plate 101 and the lower surface of the shielding case 102 to be perpendicular to the vibration of the base plate 101, The vertical vibration of the base plate 101 due to an earthquake or the like is prevented from being transmitted to the shield 102. At the same time, the four vibration dampers 106 prevent the vertical vibration of the shield box 102 due to the driving of the object 10, such as the generator, from being transmitted to the base plate 101. The upper end of each vibration damper 106 is attached to each corner of the rectangular bottom surface of the shielding case 102 and the lower end of the vibration damper 106 is attached to a point on the upper surface of the base plate 101 which meets a vertical line drawn from each corner of the lower surface of the shielding case 102 And a spring cover covering the compression coil spring. 2-3, each damper 106 may be attached to each corner of the rectangular bottom surface of the shield 102 using a coupling member such as a bolt, a nut, or the like.

On the other hand, in order to shield the vertical vibration of the base plate 101, a spring damper 104 and an actuator 105 as described above may be used instead of the vibration damper 106 as described above. However, since the vibration of the base plate 101 in the vertical direction is immediately attenuated due to the weight of the object 10 and the price of the damper is high, the vibration plate 100 is manufactured at a lower cost 101, only the vibration damper 106 as described above will be used for the vertical vibration shielding. It should be understood by those skilled in the art that the base plate 101 is vertically inserted between the upper surface of the base plate 101 and the lower surface of the shield 102 to shield vertical vibration of the base plate 101, It is understood that the spring damper 104 and the actuator 105 may be used.

The eight anchor bolts 107 secure the vibration damper 106 to the base plate 101 firmly. Two anchor bolts 107 are used to secure one damper 106. Each of the anchor bolts 107 passes through the coupling hole of the vibration damper 106 and is fastened to the coupling groove of the base plate 101. The lower portion of the anchor bolt 107 fastened to the coupling groove of the base plate 101 may be curved so as not to be pulled out from the base plate 101.

The four stoppers 108 are installed on the base plate 101 along the outer surface of the shield box 102 to prevent the object 10 mounted on the bed 103 from being conducted due to vibration such as an earthquake. Each stopper 108 is made of a quadrangular prismatic iron material and is spaced apart from the outer surface of the shield case 102 at regular intervals. The distance between the stopper 108 and the outer surface of the shielding case 102 is such that when the shielding case 102 is moved maximum in the horizontal direction due to vibration, And the height of each stopper 108 should be high enough to prevent conduction of the shield 102 when the shield 102 is tilted to the maximum due to vibration. Each stopper 108 is fixed to the base plate 101 by an anchor bolt like the vibration damper 106.

The four sliders 109 are provided on the bottom surface of the inner space of the shield box 102 to slide along the horizontal movement of the bed 103 in the inner space of the shield box 102 while supporting the bed 103, Thereby allowing the bed 103 to move freely back and forth and left and right without any resistance or additional vibration in the interior space of the shield 102. Friction between the shielding case 102 and the bed 103 is substantially eliminated by the slider 109 and the inertial force corresponding to the mass of the object 10 itself is maximized, The variable damper force of the actuator 105 can precisely act on the expansion and contraction braking of the spring damper 104 so that the position of the inner space 103 of the shielding case 102 can be fixed more quickly with a small force, The movement of the bed 103 in the bed can be accurately controlled. As a result, the vibration of the object 10 can be more completely removed.

Four sliders 109 are installed between the four corners of the rectangular bottom surface of the bed 103 and the bottom surface of the inner space of the shield 102 to stably support the bed 103. If the slider 109 can be manufactured in a large size, the four sliders 109 may be formed as one large slider provided between the center of the lower surface of the bed 103 and the bottom surface of the inner space of the shielding case 102 It may be replaced. Fig. 5 is a longitudinal sectional view of the slider 109 shown in Figs. 2-3, Fig. 6 is a transverse sectional view of the slider 109 shown in Figs. 2-3, Fig. 5 is a longitudinal sectional view taken along the line B-B 'in FIG. 7, and FIG. 6 is a transverse sectional view taken along the line A-A' shown in FIG. 5. The slider 109 includes a lower plate 51, A cover 52, a mover 53, twelve balls 54, a ball sheet 55, and a ball spring 56.

The lower plate 51 should be made of a rigid material that is attached to and fixed to the bottom surface of the inner space of the shield box 102 and can bear the weight of the weight transmitted through the bed 103 and the mover 53. [ 2-3, the lower plate 51 may be attached to the bottom surface of the inner space of the shield case 102 using a coupling member such as a bolt, a nut, or the like. The lower plate 51 is formed with a cylindrical projection having a predetermined height for engaging with the lid 52. The lid 52 is joined to the lower plate 51 to cover the upper surface of the lower plate 51. Accordingly, a constant space is formed between the lower plate 51 and the lid 52. [ 5-7, the lid 52 is composed of a disk-shaped top plate having a circular opening at its center and a cylindrical side plate that is bent vertically from the periphery of the top plate and descends by a predetermined length. The lid 52 is engaged with the lower plate 51 so that the inner surface of the side plate of the lid 52 is in close contact with the outer surface of the cylindrical projection of the lower plate 51.

The mover 53 slides between the lower plate 51 and the lid 52 in the space formed by the lower plate 51 and the lid 52 in accordance with the horizontal movement of the bed 103 while supporting the bed 103, . As shown in Figs. 5-7, the mover 53 is composed of an integrally formed lower disk of larger diameter and an upper disk of smaller diameter. A nut-shaped engagement hole is formed at the center of the mover (53). The bolts passing through the coupling holes projecting from the respective corners of the lower surface of the bed 103 are fastened to the coupling holes of the mover 53 so that the mover 53 is engaged with the respective edges of the lower surface of the bed 103, do. The mover (53) supports the bed (103) by this coupling.

The upper end of the mover 53 is higher than the upper surface of the lid 52 while the slider 109 is assembled. The bottom surface of the bed 103 does not touch the lid 52 of the slider 109 in a state where the mover 53 is engaged with the lower surface of the bed 103. [ The diameter of the opening of the upper plate of the lid 52 is larger than the diameter of the upper original plate of the mover 53. Accordingly, the mover 53 can freely move within the opening of the upper plate of the lid 52 with the limit of the distance from the diameter of the opening minus the diameter of the upper disc of the mover 53. The gap "a" between the upper original plate and the lid 52 of the mover 53 is larger than the gap "b" between the lower original plate of the mover 53 and the cylindrical projection of the lower plate 51. This prevents the mover 53 from touching the lid 52. As a result, the lid 52 only serves to prevent the mover 53 from coming off.

Six grooves are formed on the upper surface of the upper plate of the mover 53 and six grooves are formed on the lower surface of the lower plate. The twelve balls 54 are buried in the grooves of the upper circular plate of the mover 53 and the grooves of the lower circular plate to a certain depth and contact the lid 52 or the lower plate 51. That is, the six balls 54 are buried in the grooves of the upper circular plate of the mover 53 to a certain depth to come into contact with the lower surface of the upper plate of the lid 52, and the other six balls 54 contact with the upper circular plate So as to contact the upper surface of the lower plate 51. Accordingly, the mover 53 can slide horizontally between the lower plate 51 and the lid 52 due to the rolling motion of the balls 54. 5 is an enlarged view of a portion where the balls 54 are installed.

5, a ball seat 55 and a ball spring 56 are inserted and inserted into the grooves of the upper disk and the grooves of the lower disk, respectively, for smooth rolling of the balls 54 . The ball seat 55 has a cylindrical shape in which recesses are formed in the grooves of the upper and lower discs of the mover 53 to support the roll of the ball 54, respectively. The radius of curvature of the curved surface of the concave groove of the ball seat 55 to which the ball 54 directly touches is 20% larger than the radius of curvature of the ball 54. [ As a result, the contact surface between the ball 54 and the ball seat 55 becomes one point, and the friction loss is minimized. It is stable that the depth of the concave groove of the ball seat 55 causes the ball 54 to be buried even half.

The ball springs 56 are inserted between the grooves of the upper disk of the ball seat 55 and the lower disk of each of the grooves of the lower disk 54 and the mover 53 to absorb shocks due to vibration, So that it can be used. The grooves of the upper disk and the grooves of the lower disk of the mover 53 must be formed at positions where the balls 54 are not separated from each other even when the mover 53 is biased in either direction in the slider 109. [ That is, the distance "c" between the circumference of the opening of the lid 52 and the center of the ball 54 is smaller than the value obtained by adding the diameter of the ball 54 to the distance "a" It should be big. In addition, grooves of the lower disk are formed at positions vertically lowered from the grooves of the upper disk of the mover (53). Accordingly, the load generated by the weight of the object 10 acts on the grooves of the upper circular plate and the grooves of the lower circular plate of the mover 53 as vertical lines, so that the deformation of the mover 124 can be prevented.

The controller 110 generates a signal for controlling the damping force of the at least one actuator 105 based on the vibration of the shield box 102 and outputs the signal to the at least one actuator 105, . According to the embodiment shown in Figs. 1-3, the controller 110 generates a signal for controlling the damping force of the lateral actuator 1051 based on the horizontal vibration of the shield box 102 and a signal for controlling the damping force of the lateral actuator 1052 And controls the lateral actuator 1051 and the longitudinal actuator 1052 by outputting the signal to the lateral actuator 1051 and the longitudinal actuator 1052. [ In this way, the actuator 105 changes the damping force in accordance with the vibration of the shielding box, and brakes the expansion and contraction of the spring damper 104 inserted between the shielding case 102 and the bed 103, It is possible to cope with the vibration of the shield box changing at a high speed with a very small damping force as compared with that of the shield box, and as a result, such vibration can be prevented from being transmitted to the object at a low cost.

As described above, the actuator 105, which is implemented by an air damper or the like, can vary the damping force at high speed. In addition, two spring dampers 1041 and 1042 are inserted in the lateral direction together with the transverse actuator 1051 transversely inserted between the shield box 102 and the bed 103, and the longitudinal actuators 1051, Two spring dampers 1043 and 1044 are inserted in the longitudinal direction together with the spring 1052 so that the external force due to the change in the space between the shield box 102 and the bed 103 due to the vibration of the shield box 102 is transmitted to the spring 103, And absorbed by the damper 104. Accordingly, it is sufficient to provide the actuator 105 with a very small damping force as compared with the external force, and it is not necessary to use an expensive large-size dam damper, and the manufacturing cost of the vibration shielding apparatus 100 can be reduced.

The controller 110 controls the expansion and contraction of each spring damper 104 so that the bed 103 moves in a direction opposite to the horizontal movement of the bed 103 due to the horizontal vibration of the shield box 102, And outputs the generated signals to the respective actuators 105 to control the actuators 105. [0051] As described above, the bed 103 is moved back and forth and left and right in the inner space of the shield box 102 in the opposite direction to the horizontal movement of the bed 103 due to the horizontal vibration of the shield box 102, that is, The position of the bed 103 is always fixed when viewed from the outside of the bed 102. As a result, the position of the object 10 in the space where the object 10 is installed is always fixed, and the vibration of the object 10 disappears.

The displacement sensor 111 generates a signal indicating the actual position information of the bed 103 according to the operation of each actuator 105 installed between the shield box 102 and the bed 103 and controlled by the controller 110 And outputs it. The displacement sensor 111 is constituted by a signal generator installed on the inner bottom surface of the shield box 102 and a set of displacement gauges installed on the lower surface of the bed 103. The displacement sensor 111 measures the lateral displacement and the longitudinal displacement of the bed 103 with respect to the position of the bed 103 in the absence of vibration of the shield box 102, And generates a signal indicating actual position information. As shown in FIGS. 2-3, the sensor for measuring the lateral displacement of the bed 103 and the sensor for measuring the longitudinal displacement may be provided separately or integrally.

The earthquake sensor 112 is attached to the shield box 102 to generate and output the vibration waveform information of the shield box 102. [ 2-3, the seismic sensor 112 is attached to the center of the lower surface of the shield box 102 and detects the acceleration of the shield box 102 which is moved in the horizontal direction due to a vibration source such as an earthquake The vibration waveform information of the shield box 102 can be generated. Thus, the seismic sensor 112 can be implemented as an acceleration sensor.

The controller 110 feeds back the actual position information of the bed 103 according to the operation of each actuator 105 controlled by the controller 110 from the displacement sensor 111 in real time, A CDIDF AFC (Complex Dual Input Describing Function Adaptive Feedforward Canceller) algorithm is applied to the deviation of the actual position of the inner bed 103 to calculate a signal having a phase opposite to that of the disturbance applied to the object 10, And generates a control signal of the damping force of each actuator 105 in a direction in which the deviation is removed by using the calculated signal so that the bed 103 is moved in a direction opposite to the horizontal movement of the bed 103, ) Of the damping force of each of the actuators for variable braking.

The CDIDF AFC algorithm is suitable for suppressing vibrations in which multiple sinusoids are mixed and are randomly changed at high speed. Since the vibration waveform of the shielding box 102 due to the earthquake has a mixed form of several sinusoidal waves, the control method of the controller 110 as described above is a method in which the vibration of the shielding box, which is irregularly changed at high speed due to an earthquake, Can be blocked from being transmitted. Here, the reference position of the bed 103 means the position of the bed 103 in a state where there is no vibration of the shield box 102. [ The operation of the controller 110 applying the CDIDF AFC algorithm will be described below with reference to FIGS. Here, the disturbance applied to the object 10 may be regarded as a disturbance applied to the bed 103 because the object 10 is mounted on the bed 103 and moves integrally, Means a disturbance applied to the entire moving body located in the inner space.

That is, the controller 110 uses the signal having the opposite phase of the same magnitude as the lateral disturbance applied to the object 10 due to the lateral vibration of the shield box 102, so that the lateral deviation A lateral actuator 1051 for variable braking the elongation and contraction of the lateral spring dampers 1041 and 1042 such that the object 10 moves in a direction opposite to the horizontal movement of the object 10 by generating an adjustment signal of the damping force of the actuator 1051 ) Of the damping force. In addition, the controller 110 uses the signal having the opposite phase of the same magnitude as the longitudinal disturbance applied to the object 10 due to the longitudinal vibration of the shield box 102, A longitudinal actuator 1052 for variable braking the extension and retraction of the longitudinal spring dampers 1043 and 1044 so as to move the object 10 in opposition to the horizontal movement of the object 10 by generating an adjustment signal of the damping force of the actuator 1052, ) Of the damping force.

Alternatively, the controller 110 receives the vibration waveform information of the shield 102 from the seismic sensor 112 and detects the movement path of the bed 103, which is anticipated according to the vibration waveform of the shield box 102, And the actual position of the bed 103 according to the operation of each actuator 105 controlled by the controller 110 from the displacement sensor 111 is fed back in real time to the reference position of the bed 103, By generating a control signal of the damping force of each actuator 105 in such a direction that the deviation of the actual position of the bed 103 with respect to the reference position of the set bed 103 is eliminated, as opposed to the horizontal movement of the bed 103, It is possible to generate an adjustment signal of the damping force of each actuator for variable braking of the expansion and contraction of each spring damper 104 so as to move.

The vibration waveform of the shielding box 102 due to the earthquake is an irregular waveform having no constant shape, but each waveform constituting the vibration waveform follows a periodic sinusoidal waveform. That is, the vibration waveform of the shield box 102 is a waveform in which a plurality of sinusoidal waves are mixed. The magnitude and period of the waveform can be predicted from the initial slope value of the sine wave. The initial slope value of each sinusoidal wave constituting the vibration waveform of the shield box 102 is equal to the acceleration value detected by the seismic sensor 112. Therefore, the magnitude and period of the vibration waveform of the shield box 102 can be predicted from the acceleration value detected by the earthquake sensor 112, and according to the thus predicted vibration waveform of the shield box 102, The movement path of the bed 103 can be predicted.

The information fed back from the displacement sensor 111, that is, the actual position of the bed 103 according to the operation of each actuator 105 controlled by the controller 110, generates an adjustment signal of the damping force of each actuator 105 An error may occur due to a time difference between the feedback timing of the displacement sensor 111 and the signal input timing of each actuator 105 because of the position of the bed 103 in the past. As described above, since the motion of the bed 103 can be controlled by predicting the vibration waveform of the shield box 102 in advance, the present embodiment is very effective for interrupting vibration that varies irregularly at high speed.

The moving path of the bed 103 opposite to the predicted moving path of the bed 103 is set as the reference position of the bed 103 and the moving path of the bed 103 opposite to the reference position of the bed 103, And the damping force of each actuator 105 is adjusted in the direction in which the deviation thus calculated is removed, the bed 103 is moved in the same direction as the bed 103, The motion of the bed 103 due to the earthquake in real time has the same magnitude and direction of movement with respect to the magnitude and direction of the motion of the bed 103. Accordingly, the bed 103 and the object 10 mounted thereon move within the shield case 102, but are fixed when viewed from the outside of the shield case 102. For example, the control of each actuator 105 through the setting of the reference position of the bed 103, the calculation of the deviation, etc. is performed every vibration period of the bed 103 due to the earthquake, The deviation between the predicted moving path of the bed 103 and the actual moving path of the bed 103 may disappear in the next period.

Hereinafter, the embodiments according to the present invention will be described by limiting each actuator 105 to the earmatic damper 105. FIG.

Fig. 8 is a diagram showing a vibration model of the plant of the vibration shielding apparatus 100 shown in Figs. 1-3. Referring to FIG. 8, the plant to be controlled by the controller 110 in the vibration shielding apparatus 100 shown in FIGS. 1-3 includes the object 10, the bed 103, the spring damper 104, 105, and a slider 109. The displacement of the bed 103 due to the vibration, the inertia force of the two spring dampers 104 in accordance with the total mass of the moving object which is located inside the shield case 102 and is moved due to vibration, the elastic force of the two elastic dampers 105 From the relationship of the viscous force, the viscous force of the slider 109, the external force applied to the object 10 due to the vibration, and the acceleration of the bed 103 moved due to vibration, the plant shown in Fig. 8 has a mass, a damper, And can be modeled as a vibration system.

Here, the total mass of the moving object means the total mass of the object 10, the bed 103, and the slider 109 which are positioned inside the shield box 102 and are moved in the horizontal direction. Since the object 10 is mounted on the bed 103 and the bed 103 and the object 10 are integrally moved, the displacement and the acceleration of the bed 103 mean the displacement and the acceleration of the object 10 due to the vibration do. This vibration model is used for designing the main components of the vibration shielding apparatus 100 such as the microphone damper 105, the controller 110, and the like. The object 10 moves vertically and horizontally inside the shield 102 with the bed 103 due to vibration. As described above, the two lateral spring dampers 1041 and 1042 and the lateral elastic damper 1051 are used to suppress the lateral vibration of the object 10, and two longitudinal spring dampers 1043 and 1044 and The tail damper damper 1052 is used to suppress the longitudinal vibration of the object 10. The vibration model shown in Fig. 8 is a vibration model for either the lateral vibration of the object 10 or the longitudinal vibration of the object 10. Fig.

The vibration model shown in Fig. 8 is obtained by the lateral vibration of the object 10 and the vibration of the object 10 because the lateral vibration of the object 10 and the longitudinal vibration of the object 10 are suppressed in the same manner, The same applies to each of the longitudinal vibrations. The spring damper 104 and the amplifying damper 105 shown in Fig. 8 may be two lateral spring dampers 1041 and 1042 and a lateral amplifying damper 1051 and two longitudinal spring dampers 1043 and 1044, And a tail hammer damper 1052. The vibration model shown in Fig. 8 can be expressed by a differential equation as shown in the following equation (1).

Figure 112014069948117-pat00001

In Equation 1, x (t) is the displacement of the bed 103 due to vibration, m is the total mass of the moving object moved by vibration together with the bed 103 such as the object 10, and B is the mass of the moving object Where K1 and K2 are the spring constants of the two spring dampers 104, Fmr is the external force applied to the object 10, and x "is the acceleration of the bed 103. [ Generally, since the slider 109 itself is moved with almost no friction, the viscous force of the slider 109 can be omitted. Equation (1) can be expressed by the following equation (2).

Figure 112014069948117-pat00002

Equations (1) and (2) can be expressed by the transfer function P (s) of the following equation (3) through Laplace transform. The transfer function P (s) means the ratio of the output X (S) to the input Fmr (s) of the vibration model shown in Fig. Equation (3) can be expressed by a standard quadratic system as shown in Equation (4). Various coefficients of the standard quadratic system for the vibration model of the plant can be determined from Equation (4) as Equation (5). Among the coefficients in Equation (5),? Represents the damping ratio of the vibration model shown in FIG. If the damping ratio zeta is equal to or greater than 1, the object 10 will not vibrate, and at 0, the vibration of the object 10 will not be attenuated.

Figure 112014069948117-pat00003

Figure 112014069948117-pat00004

Figure 112014069948117-pat00005

From Equation (5), it can be seen that the damping ratio? Is determined by the viscous damping coefficient B, the angular frequency w n , and the total mass m of the mobile damper. Here, since the angular frequency w n is a fixed value determined by the sum K 1 + K 2 of the spring constants of the two spring dampers 104 and the total mass m of the moving body, the damping ratio ζ is changed according to the viscous damping coefficient B of the dampers Able to know. Since the viscous damping coefficient B of the damping damper changes with the intensity of the magnetic field, the viscous damping coefficient B of the damping damper can be changed by changing the magnitude of the current applied to the coil 43 forming the magnetic field.

FIG. 9 is a diagram showing an electrical model of each elastic damper 105 shown in FIGS. 1-4. Referring to FIG. 9, each of the ampli fi er dampers 105 may be modeled as a self-inductance L and an internal resistance R L. The electrical model shown in FIG. 9 can be expressed by a differential equation as shown in the following Equation (6).

Figure 112014069948117-pat00006

X (t) in equation (6) is V H denotes a voltage of the power applied to the coil 43 of the emal damper, T on / T is the power applied to the coil 43 of the emal damper duty cycle (duty cycle. That is, power is supplied to the coil 43 of the magnetic damper only during the period of T on the cycle of T. The solution of Equation (6) is as shown in Equation (7). Referring to Equation (7), since the self-inductance L and the internal resistance R L are fixed values determined according to the characteristics of the respective dummy amplifiers 105, the magnitude of the current applied to the coil 43 of the dummy damper is the voltage magnitude V H And the duty cycle T on / T. In this embodiment, the duty cycle T on / T of the power source applied to the coil 43 of the dummy damper is adjusted to change the magnitude of the current applied to the coil 43 of the dummy damper.

Figure 112014069948117-pat00007

10 is a configuration diagram of the controller 110 shown in Figs. 1-3. Referring to FIG. 10, the controller 110 includes a nonlinear controller 1101, a PWM controller 1102, a current driver 1103, and a damping force converter 1104. The nonlinear controller 1101 may be implemented with elements that process digital signals, such as a microprocessor, storage, and the like. On the other hand, the elements such as the displacement sensor 111 and the earthquake sensor 112 may be analog elements that output analog signals. Accordingly, the nonlinear controller 1101 may include an analog to digital converter (ADC) to convert an analog signal to a digital signal for interfacing with these analog elements, and an amplifier to amplify the analog signal have.

The nonlinear controller 1101 feeds back the actual position information of the bed 103 according to the operation of each of the dummy dampers 105 controlled by the controller 110 from the displacement sensor 111 in real time, And generates and outputs a damping force adjustment signal for each of the dummy dampers 105 in a direction in which the deviation of the actual position of the bed 103 with respect to the position is eliminated. As described above, the nonlinear controller 1101 applies the CDIDF AFC algorithm to the above-described deviation or moves the bed 103 in the opposite direction to the movement path of the bed 103 predicted according to the vibration waveform of the shielding 102. [ It is possible to generate an adjustment signal of the damping force of each elastic damper 105. [

The PWM controller 1102 generates a pulse width modulation (PWM) signal having a duty cycle T on / T according to an adjustment signal of the damping force of each damping force output from the nonlinear controller 1101. That is, the duty cycle T on / T increases or decreases as the damping force of the respective amplifying dampers 105 increases in proportion to the magnitude of the damping force. More specifically, the PWM controller 1102 refers to the actual damping force indicated by the feedback signal output from the damping force converter 1104 and controls the damping force of each of the dampers 105 output from the nonlinear controller 1101 Calibrates the target damping force represented by the signal and generates a PWM signal having a duty cycle T on / T according to the calibrated signal.

The individual dampers 105 can be braked by the damping force different from the target damping force corresponding to the intensity of the current inputted thereto because of the individual characteristics of the respective dampers 105 and deterioration according to the use period. Linear controller 1101 by compensating the target damping force output from the nonlinear controller 1101 by the difference between the actual damping force of each elastic damper 105 and the target damping force output from the nonlinear controller 1101 So that each of the ampli fi er dampers 105 can be operated by the damping force.

The current driver 1103 converts the PWM signal output from the PWM controller 1102 into a constant voltage current capable of forming a damping force of the dampers 105 required for braking each spring damper 104 according to the PWM signal To the coil 43 of the magnetic damper. Generally, since the current driver 1103 generates a current of a very large magnitude in comparison with the current magnitude of the PWM signal output from the PWM controller 1102, a current is supplied from a power supply device (not shown) such as a Switching Mode Power Supply (SMPS) Directly powered.

The damping force converter 1104 measures the actual damping force of each damping damper 105 by using a force sensor (not shown) attached to the piston 42 of the damping damper, And generates a feedback signal indicating the actual damping force of each damper damper 105. If the difference between the actual damping force of the respective dampers 105 and the target damping force output from the nonlinear controller 1101 is equal or not constant, the damping force converter 1104 may be required only in the designing process of the controller 110, 110 may be omitted in the commercialization process.

11 is a block flow diagram of a CDIDF AFC (Complex Dual Input Describing Function Adaptive Feedforward Canceller) control system applied to the nonlinear controller 1101 shown in FIG. The AFC algorithm can be used to remove the sinusoidal disturbance. Periodic disturbances, such as sinusoidal waves, can be removed by signals with opposite phases of the same magnitude. The AFC algorithm employing this principle is called the Describing Function (AFC) algorithm. The general DF AFC algorithm receives one sine wave as the input of the nonlinear element and the CDIDF AFC algorithm receives the two sine waves as the input of the nonlinear element.

Since the vibration waveform of the shielding box 102 due to the earthquake has a mixed sinusoidal waveform, the CDIDF AFC algorithm is suitable for suppressing the vibration caused by the earthquake. This algorithm is described in the paper "Harmonic Generation in Adaptive Feedforward Cancellation Schemes" (M. Bodson, A. Sacks, P. Khosla, Decision and Control, Vol.2, 1261-1266, A Study on the Improvement of the Speed Response of a DC Motor by a Nonlinear Compensator with a Dual Input Functional Function (Lee, Jae-Gi, 21- 24, July 1985), and will be omitted.

Referring to Fig. 11, Ci (s) is the transfer function of the CDIDF AFC controller, and P (s) is the transfer function of the plant. r (t) is the reference value input to the CDIDF AFC control system, and y (t) is the output value output from the CDIDF AFC control system. e (t) is the deviation between the output value y (t) and the reference value r (t). When the deviation e (t) is input to the CDIDF AFC controller, the CDIDF AFC controller generates and outputs a signal u (t) having an opposite phase of the same magnitude as the disturbance. The signal u (t) output from the CDIDF AFC controller is mixed with the internal disturbance d (t) to become δ (t), whereby the plant is controlled. The external disturbance n (t) is mixed with the output signal of the plant thus controlled to output y (t). The disturbance applied to the plant due to vibration is an internal disturbance d (t) detected by the displacement sensor 111, the earthquake sensor 112, and the like mounted inside the plant. Accordingly, the external disturbance n (t) due to the uncertainty of the entire system is omitted in this embodiment.

Since the disturbance to be applied to the object 10 due to the earthquake is a periodic disturbance mixed with several sinusoidal waves, the internal disturbance d (t) can be defined by the following equation (8). In Equation (8), a i and b i are Fourier coefficients, and ω i (t) is a natural frequency not included in the plant. According to the CDIDF AFC algorithm, the disturbance d (t) can be eliminated by a signal having an opposite phase of the same magnitude, and the output signal u (t) of the CDIDF AFC controller is expressed by the following equation (9).

Figure 112014069948117-pat00008

Figure 112014069948117-pat00009

As shown in Fig. 11, since the internal disturbance d (t) is subtracted from the output signal u (t) of the CDIDF AFC controller to calculate the plant control signal delta (t), the disturbance Can be removed. Thus, the output signal u (t) of the CDIDF AFC controller allows the position of the object 10 to be fixed by moving the object 10 in opposition to the movement of the object 10 due to the earthquake.

Figure 112014069948117-pat00010

Since the vibration of the object 10 due to the earthquake is a cyclic disturbance mixed with several sinusoidal waves, the deviation e (t) can be expressed by Equation (11). When this deviation e (t) is input to the CDIDF AFC controller, the output signal u (t) of the CDIDF AFC controller is given by Equation (12). Therefore, disturbance can be eliminated if the condition of the following expression (13) is satisfied.

Figure 112014069948117-pat00011

Figure 112014069948117-pat00012

Figure 112014069948117-pat00013

12 is a detailed block diagram of the CDIDF AFC controller shown in FIG. The output signal u (t) of the CDIDF AFC controller when Equation (11) is input to the CDIDF AFC controller is shown in Equation (12). Since the deviation e (t) is a sine function, a 90 degree phase shifter is inserted to generate the cosine function term in Equation (12). As shown in FIG. 12, the 90-degree phase shifter may be implemented with an absolute value, a differentiator S, a linear limiter, and a multiplier.

13 is a block diagram of the control system of the vibration shielding apparatus 100 shown in Figs. 1-3. In Fig. 13, G (S) integrates the deviation e (t) of the control system shown in Fig. 13 as a PI (Proportional Integral) controller to generate a signal for eliminating the accumulated deviation for a predetermined time, And to eliminate the steady state error of the control system. N h (s) is a CDIDF AFC controller shown in Fig. 12, which generates a signal u (t) having an opposite phase of the same magnitude as the disturbance, and overshoots the output y (t) of the control system shown in Fig. overshoot).

When the control system shown in Fig. 13 is applied to the vibration shielding apparatus 100 shown in Figs. 1-3, r (t) is a reference value of the bed 103 as a reference value input to the control system of the vibration- ≪ / RTI > y (t) is a signal indicating an actual displacement of the bed 103 detected by the displacement sensor 111 as an output value output from the control system of the vibration shielding apparatus 100. [ e (t) is a signal indicating the deviation of the actual displacement of the bed 103 detected by the displacement sensor 111 with respect to the reference position of the bed 103 as a deviation between the output value y (t) and the reference value r . d (t) is a signal indicating a disturbance applied to the object 10 due to vibration of the object 10 caused by a vibration source such as an earthquake. (t) is a signal to be inputted to each of the ampli fi er dampers 105 to adjust the damping force of each ampli fi er damper 105. (T) is input to the PWM controller 1102 to be converted into a PWM signal, and the PWM signal is input to the current driver 1103 to be supplied to the actual dampers 105, And is converted into a power control signal.

The control system shown in Fig. 13 can be simulated through computer simulation. Through this simulation procedure, the vibration shielding performance of the vibration shielding apparatus 100 is tested while changing each coefficient of the PI controller G (S) and each coefficient of the CDIDF AFC controller N h (s). Based on these test results, PI controller and CDIDF AFC controller are manufactured by determining coefficients of PI controller G (S) and CDIDF AFC controller N h (s) that exhibit the best vibration shielding performance. The nonlinear controller 1101 shown in FIG. 10 can be manufactured by connecting the PI controller and the CDIDF AFC controller manufactured in this manner in parallel. The control system shown in Fig. 13 is applied separately to each of the horizontal component and the horizontal component of the horizontal vibration of the shield box 102 so that the horizontal component and the longitudinal component of the horizontal vibration of the shield box 102 are parallel The nonlinear controller 1101 can be manufactured at the same time.

14 is a cross-sectional view of a vibration-damping generator to which the vibration-shielding apparatus 100 shown in Figs. 1-3 is applied, and Fig. 15 is a longitudinal sectional view of the vibration damping generator shown in Fig. 14-15, the vibration damping generator according to the present embodiment includes the vibration shielding apparatus 100 shown in Figs. 1-3 and the generator 10 mounted on the bed 103. Fig. That is, the vibration shielding object 10 by the vibration shielding apparatus 100 shown in Figs. 1-3 is the generator 10. In particular, the generator 10 shown in Figs. 14-15 includes a diesel engine 11 that generates power by using light oil as fuel as a diesel generator, a generator (not shown) that generates electric energy by using the power of the diesel engine 11 A radiator 13 for cooling the diesel engine 11 and a control panel 14 to which various instruments and switches for monitoring and controlling the diesel engine 11 are attached.

Thus, all the elements constituting the earthquake-resistant generator, that is, the diesel engine 11, the generator 12, the radiator 13, and the control panel 10 are installed in the bed 103 of the vibration- The position of the diesel generator 10 is always fixed in view of the gravitational space according to various effects of the vibration shielding apparatus 100 as described above since the diesel generator 10 is mounted on the diesel generator 10, It can be completely removed. Accordingly, even if an earthquake occurs, the diesel generator 10 hardly vibrates, so that damage to the diesel generator 10 due to vibration, for example, breakage of the internal components can be prevented. As a result, even if an earthquake occurs, the diesel generator 10 can generate emergency power, and can smoothly supply the power required for disaster relief.

The present invention has been described above with reference to preferred embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

101 ... base plate
102 ... Bed
103 ... Shielded
104, 1041-1044 ... spring damper
105, 1051-1052 ... Actuator
106 ... anti-vibration machine
107 ... anchor bolt
108 ... Stopper
109 ... slider
110 ... controller
111 ... displacement sensor
112 ... Earthquake sensor

Claims (11)

A box-shaped shield box 102 installed on a base plate 101 in a space where the object 10 is installed;
A bed 103 on which the object 10 is mounted and installed to be movable in an inner space of the shielding case 102;
At least one spring damper 104 inserted between the shield case 102 and the bed 103 and stretched or shrunk in response to a change in distance between the shield case 102 and the bed 103 due to the vibration of the shield case 102, );
At least one actuator interposed between the shielding case 102 and the bed 103 for braking the expansion and contraction of the spring damper 104 with a damping power varying with the vibration of the shielding case 102, (105); And
Generating a signal for controlling the damping force of the at least one actuator (105) based on the vibration of the shield box (102) and outputting the signal to the at least one actuator (105) And a controller (110)
The controller 110 controls the actuators 105 for variable braking of the expansion and contraction of the respective spring dampers 104 so that the bed 103 moves as opposed to the movement of the bed 103 due to the vibration of the shield box 102. [ And outputs the adjusted signals to the actuators 105 to control the actuators 105,
Wherein each of the actuators (105) varies the damping force for braking the expansion and contraction of the spring damper (104) according to a signal output from the controller (110). The method according to claim 1,
The length of each of the actuators 105 varies in accordance with a change in distance between the shield case 102 and the bed 103. The damping force acts in a direction to resist a change in the length of each of the actuators 105, A vibration shielding device for braking and expanding the spring damper (104). 3. The method of claim 2,
Each of the actuators 105 includes a cylinder 41 attached to one inner side surface of the shield case 102 and a piston 42 attached to one inner side surface of the bed 103 and moving inside and outside the cylinder 41 And a fluid (44) surrounding the piston (42) within the cylinder (41) and having a viscosity that varies with an electrical signal output from the controller (110)
Wherein the piston (42) is braked by the viscosity of the fluid (44) so that the viscosity of the fluid (44) forms the damping force. The method of claim 3,
Each of the actuators 105 further includes a coil 43 positioned inside the cylinder 41 and forming a magnetic field from the electric signal output from the controller 110,
Wherein the fluid (44) is a magneto-rheological fluid whose viscosity changes according to the intensity of a magnetic field formed by the coil (43). The method according to claim 1,
The at least one spring damper 104 includes a plurality of spring dampers 104 inserted between the inner surface of the shield box 102 and the outer surface of the bed 103 facing each other in the lateral direction of the bed 103, And a plurality of spring dampers (104) inserted between the inner surface of the shield box (102) and the outer surface of the bed (103) facing each other in the longitudinal direction of the bed (103)
The at least one actuator 105 includes at least one actuator 105 inserted between the inner surface of the shield box 102 in which the spring damper 104 is inserted in the transverse direction and the outer surface of the bed 103, And at least one actuator (105) inserted between the inner surface of the shield box (102) into which the spring damper (104) is inserted in the longitudinal direction and the outer surface of the bed (103). The method according to claim 1,
The controller 110 controls the expansion and contraction of each spring damper 104 so that the bed 103 moves as opposed to the horizontal movement of the bed 103 due to the horizontal vibration of the shield box 102. [ And generates an adjustment signal for damping force of each actuator (105) and outputs it to each of the actuators (105), thereby controlling each of the actuators (105). The method according to claim 6,
The controller 110 feeds back the actual position information of the object 10 according to the operation of each actuator 105 controlled by the controller 110 and receives the actual position information of the bed 103 with respect to the reference position of the bed 103, A complex dual input Describing Function Adaptive Feedforward Canceller (AFC) algorithm is applied to the deviation of the actual position of the shield box 102 to generate a signal having a phase opposite to that of the disturbance applied to the object 10 due to the vibration of the shield box 102 And generates an adjustment signal of the damping force of each of the actuators 105 in a direction in which the deviation is removed by using the calculated signal as described above, so that the bed 103 is moved in the opposite direction to the horizontal movement of the bed 103 And generates an adjustment signal of the damping force of each actuator (105) for variable braking the expansion and contraction of each spring damper (104) so as to move the spring damper (104). The method according to claim 6,
The controller 110 sets a movement path that is opposite to the movement path of the bed 103 predicted according to the vibration waveform of the shield box 102 to a reference position of the bed 103, The actual position information of the bed 103 according to the operation of each of the actuators 105 controlled by the bed 103 is fed back and the actual position information of the bed 103 is corrected in the direction in which the deviation of the actual position of the bed 103 with respect to the reference position of the bed 103 is eliminated Each actuator 105 for variable braking the elongation and contraction of each spring damper 104 so as to move the bed 103 in opposition to the horizontal movement of the bed 103 by generating an adjustment signal of the damping force of each actuator 105 ) Of the damping force. The method according to claim 1,
The shield 103 is installed on the bottom surface of the inner space of the shield box 102 and slidably moves horizontally along the horizontal movement of the bed 103 in the inner space of the shield box 102 while supporting the bed 103 Further comprising one slider (109). 10. The method of claim 9,
The slider includes a lower plate 51 attached to a bottom surface of the inner space of the shield case 102, a lid 52 coupled to the lower plate 51 to cover the upper surface of the lower plate 51, And is slid between the lower plate 51 and the cover 52 in the space formed by the lower plate 51 and the lid 52 in accordance with the horizontal movement of the bed 103, (53). The earthquake-resistant electric power generator according to claim 1,
The vibration shielding device according to claim 1, And
And a generator mounted on the bed (103).
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KR102089389B1 (en) * 2019-12-12 2020-03-16 (주)삼우티이씨 Earthquake-proof Generator for Emergency
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KR20170007037A (en) 2015-07-10 2017-01-18 한국생산기술연구원 Vibration Reduction Apparatus of Small and Medium-sized Emergency Generator
CN107240979A (en) * 2017-05-24 2017-10-10 河南师范大学 A kind of motor shock-absorbing device
KR101803690B1 (en) 2017-10-19 2017-12-01 신양식 Earthquake-Proof Generator
KR101931914B1 (en) * 2018-07-06 2018-12-21 심병택 Simplified Generation Equippment Apparatus
KR101945303B1 (en) 2018-08-22 2019-02-07 최진민 Photovoltaic apparatus including vibration control system
KR20200046302A (en) * 2018-10-24 2020-05-07 박주현 Energy harvesting system using solar
KR102160027B1 (en) * 2018-10-24 2020-09-25 박주현 Energy harvesting system using solar
WO2020162660A1 (en) * 2019-02-08 2020-08-13 숭실대학교 산학협력단 Vibration damping system and method for estimating cutting force of machine tool using same
KR102145697B1 (en) * 2019-02-08 2020-08-19 숭실대학교산학협력단 Vibration Damping System and Machining Force Evaluation method for machine tools using Thereof
KR102089389B1 (en) * 2019-12-12 2020-03-16 (주)삼우티이씨 Earthquake-proof Generator for Emergency
KR102274795B1 (en) * 2021-03-25 2021-07-08 (주)삼우티이씨 Generator responding the earthquake

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