JP3085113B2 - Damping device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system which is mounted on an upper part of a structure such as a high-rise building, a steel tower or the like to suppress the vibration amplitude of such a structure due to an earthquake, wind or the like and to attenuate the vibration at an early stage. The present invention relates to a vibration device.

[0002]

2. Description of the Related Art Conventionally, many studies have been made on a structure damping device, and various techniques have been proposed. Originally, in order to efficiently obtain a vibration damping effect in such a structure vibration damping device, it is required that the natural period of the vibration-controlled body and the natural period of the vibration damping device match.

In order to obtain high energy efficiency, it is advantageous to use a conserving system that performs a pendulum motion. In this case, it is necessary to obtain a desired performance with a minimum driving device for the vibration damping device. And running costs are minimized.

[0004] However, when the controlled object is a building or the like, the primary natural period is often 4 seconds or more. For this reason, it is necessary to increase the radius of rotation of the pendulum. In order to form a pendulum with a wire or the like, the length becomes 4 meters or more, so that the pendulum cannot be housed in a building.

Japanese Unexamined Patent Publication No. Hei 2-289720 (hereinafter referred to as Reference 1) solves this problem with a wire type pendulum.
And obtains the natural period of the vibration damping device by folding the wire.

Next, Japanese Patent Laid-Open Publication No. Hei 1-101 discloses a system in which energy is absorbed by a hydraulic accumulator and pendulum motion is performed.
There is a technique disclosed in Japanese Patent No. 242845 (hereinafter referred to as Reference 2). Similarly, there is a technique disclosed in JP-A-2-300478 (hereinafter referred to as Reference 3) in which a spring absorbs energy and performs a pendulum motion.

A technique disclosed in Japanese Patent Application Laid-Open No. 2-102945 (hereinafter referred to as Reference 4) is one that achieves the same effect as the pendulum movement by making the weight move in a circular arc. In this case, an arc-shaped guide track is provided so that the weight moves in an arc shape.

[0008]

The natural period of a controlled object such as a building has a slight difference between the predicted one and the actual one, and the natural period of the vibration damping device is adjusted accordingly. It is desirable to do.

However, in the case of Reference 1, it is extremely difficult to adjust the length of the wire so that the natural period of the damped object and the natural period of the vibration damping device match.

In the case of References 2 and 3, it is possible, but easily possible, to adjust the natural period of the vibration damping device in accordance with the natural period of the object to be controlled by controlling the valve or replacing the spring. In the case of Reference 2, there is a problem in oil management, and in the case of Reference 3, it is difficult to set the spring constant.

In the case of Reference 4, since the radius of the arc-shaped weight must be changed, it is almost impossible to adjust the natural period of the vibration damping device in accordance with the natural period of the vibrator.

As described above, in the conventional structure damping device,
There is a problem that it is difficult to adjust the natural period of the vibration damping device in accordance with the natural period of the vibrated body.

The present invention has been made to solve such a problem, and an object of the present invention is to provide a vibration damping device capable of easily changing a driving cycle of the vibration damping device in accordance with a vibration cycle of a body to be damped. It is assumed that.

[0014]

SUMMARY OF THE INVENTION The present invention has been made to achieve the above-mentioned object, and comprises a gantry provided on a vibration-suppressed body and a linear guide trajectory provided on the gantry. A lower weight movably provided in the direction and forming a concave arc surface on the upper part, an upper weight movable along an arc surface on the upper part of the lower weight, and a lower part rotatably fixed to the gantry, The weight and the upper weight are each provided with a connecting arm that is connected in a movable manner and rotatably in the longitudinal direction, and a driving device that is provided on the gantry and applies a moving force to the upper weight, and a rotation angle of the upper weight. A rotation angle sensor for detecting, a control device for performing a comparison operation between a signal of the rotation angle sensor and a predetermined angle, and controlling a driving force of the driving device based on a result of the comparison operation. Is what you do.

[0015]

FIG. 3 is a mathematical model diagram showing the basic calculation basis of the present invention. In the figure, a gantry 2 is provided for a damped body 1 such as a building, and a frame having a mass M ₂ as a lower weight is provided on the gantry 2 so as to be movable in a horizontal direction, and an upper weight is provided thereon. weight of the mass M ₁ as is provided. Contact surface between the weight M ₁ and the frame M ₂ forms a circular arc surface, the roller is in contact via a wheel or the like, the weight M ₁ frame M ₂
Above, a rotational motion is given, and a pendulum motion having a radius of l is performed in a linear motion direction. (L is the distance from the center of rotation to the center of gravity of the upper weight.) On the other hand, are connected by the weight M ₁ and frame M ₂ and the arm 7 and the frame 2. The arm 7 includes the gantry 2
The weight M ₁ and the frame M ₂ are connected to the weight M ₁ and the frame M ₂ so as to be movable and rotatable in the longitudinal direction, respectively.
Rotation of the weight M ₁ is transmitted to the frame M ₂ by the arm 7, frame M ₂ is a linear drive y in the same direction swing of the weight M _1.

Under the above-mentioned configuration conditions, the calculation theory for making the period of the pendulum motion coincide with the target vibration suppression period is as follows.

[0017] That is, the distance of the distance from the center of rotation of the spindle M ₁ to the point of attachment of the weight M ₁ and the arm 7 a, the rotation axis of the arm 7 to the point of attachment to the arm 7 and the frame frame M ₂ b , the distance from the point of attachment of the weight M ₁ and the arm 7 to the point of attachment of the arm 7 and the frame frame M ₂ c, the horizontal shift amount of the center of gravity of the weight M ₁ x, the point of attachment of the weight M ₁ and the arm 7 Assuming that the horizontal movement amount is z, x = l · sin θ + y y = b · tan β z = a · sin θ + y θ ≒ sin θ tan β ≒ a θ / c Here, the balance of the force in the x direction is shown in FIG. When calculated, −M ₁ (d ² x / dt ² ) · lcos θ−M ₁ glsin θ−P
₁ cos β · cos θ · a + Fd = 0 Similarly, when the balance of the force in the y direction is obtained from FIG. 5, −M ₂ (d ² y / dt ² ) −F + P ₂ cos β = 0, and the balance of the moment is obtained from FIG. P ₁ · z / sin β−P ₂ · b / cos β = 0 From the above calculation, the equation of the pendulum motion cycle is: ｛M ₁ (l ² + abl / c) + M ₂ a ² b ² / c (b +
c)｝ (d ² θ / dt ² ) + M ₁ glθ = 0 Here, if M ₂ = k · M ₁ , the pendulum movement period τ of the weight M ₁ can be obtained from the above equation.

[0018]

(Equation 1)

That is, it can be seen that the period can be freely designed by the values of l, a, b, c and k.

In particular, even when the values of l and k are predetermined, the positions of the axles of the upper and lower weights inserted into the elongated holes of the connecting arm are changed to change the values of a, b and c. By doing so, it is possible to make the natural vibration period of the damped object coincide with the natural period of the vibration damping device.

[0021]

FIG. 1 is a front view, partly in section, showing the structure of an embodiment of the present invention, and FIG. 2 is a structural view of the drive and control device. In the figure, a gantry 2 is attached to a damped body 1, and a frame 4 moves in a horizontal direction with a linear guide 3 with respect to the gantry 2. On the concave circular arc surface of the frame 4, there is provided a weight 6 that is pendulum-type rotated along the arc surface via the rotation guide member of the wheel 5. An arm 7 is fixed to the side surface of the gantry 2 by a pin 8, and the arm 7 is connected to the frame 4 and the weight 6 by pins 9 and 10 through long holes, respectively. A rack 11 is formed on the lower surface of the weight 6 so as to mesh with the drive and control device.

Next, as a drive and control device, as shown in FIG. 2, a rotation angle sensor 13 for detecting the position of the weight 6,
A control device 14 that receives the position signal from the rotation angle sensor 13, compares the calculated position signal with a target position, and controls the movement, and receives a command signal from the control device 14 to drive the motor 12c. A motor driver 12d is provided, and the driving force of the motor 12c is
The weight 6 is transmitted to the rack 11 formed on the lower surface of the convex arc of the weight 6 through the gear 12a, so that the weight 6 is rotated.

The algorithm of the vibration suppression control is the same as the conventionally known method, so that the description is omitted. In the control device configured as described above, it is extremely easy to change the shaft stop connection position with the arm 7 by transferring the pins 9 and 10 of the frame 4 and the weight 6. Therefore, even if the natural vibration period of the damped body 1 changes, the weight 6 and the frame 4 are correspondingly changed.
The values of l, a, b, c, and k, which are the determinants of the pendulum motion cycle, are calculated so that the reciprocating movement of the pendulum is performed. Is moved, it is possible to perform appropriate phase control to suppress the vibration of the damped body 1 and perform efficient driving.

[0024]

As described above, the present invention facilitates the movement of the position of the stop shaft of the connecting arm with the upper and lower weights with the gantry as a fulcrum. However, by moving the stop shaft of the upper arm and the lower weight of the connecting arm corresponding to this, the natural vibration period of the damped body and the natural period of the vibration damping device can be matched. Therefore,
The effect of always being able to drive efficiently is obtained.

[Brief description of the drawings]

FIG. 1 is a front view showing a partial cross section to show the configuration of an embodiment of the present invention.

FIG. 2 is a configuration diagram of a drive and control device of the present invention.

FIG. 3 is a mathematical model diagram showing a basic calculation basis of the present invention.

FIG. 4 is a mathematical model diagram for finding a balance of forces in the x direction.

FIG. 5 is a mathematical model diagram for obtaining a balance of forces in the y direction.

FIG. 6 is a mathematical model diagram for finding a balance of moments.

[Explanation of symbols]

 1. Damped body 2. Mount 3. Straight guide track 4. Frame (lower weight) 5. Wheels 6. 6. Weight (upper weight) Connecting arm 8. Pin 9. Pin 10. Pin 11. Tooth profile 12a. Gear 12b. Reduction gear 12c. Motor 12d. Motor driver 13. Rotation angle sensor 14. Control device

Claims (1)

(57) [Claims] 1. A gantry provided on a damped body, and a lower weight movably provided in a horizontal direction along a linear guide trajectory provided on the gantry and having a concave arcuate surface formed on an upper portion. And an upper weight that can move along an arc surface above the lower weight,
The lower weight and the upper weight are each provided with a connecting arm rotatably and rotatably connected to the gantry, and each of the lower weight and the upper weight is provided on the gantry to apply a moving force to the upper weight. A driving device to apply, a rotation angle sensor for detecting a rotation angle of the upper weight, a comparison operation between a signal of the rotation angle sensor and a predetermined angle, and a driving force of the drive device based on a result of the comparison operation. A vibration damping device comprising: a control device that controls the vibration.