JP3395504B2 - Vibration test apparatus for structure, digital computer used for the apparatus, and vibration test method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration testing apparatus for a structure, a digital computer and a vibration testing method for the structure, which combine a vibration test of only a part of the structure and a numerical analysis of vibration response, and more particularly to the vibration test. The present invention relates to a structure vibration test apparatus and a method therefor, which are suitable for carrying out the method with high accuracy. Further, the present invention relates to a vibration testing apparatus for a structure and a method thereof, which is suitable when the structure has a natural period of a short cycle.

[0002]

2. Description of the Related Art A vibration test combining a vibration test with a vibration exciter for only a part of a structure and a vibration response analysis is
It is called "testing machine-computer online test" and the like. For example, the Architectural Institute of Japan, Proceedings No. 229 (1975) 77.
An example of the system is shown on pages 83 to 83. There is also a technique described in JP-A 61-34438.

In the numerical analysis combined with the vibration test, the vibration response calculation of the numerical model is directly integrated using a matrix. JP-A-2-82132
Japanese Patent Laid-Open No. 5-332876 and Japanese Patent Laid-Open No. 5-332876 describe a technique for performing this numerical analysis in a mode space to perform a vibration test. Further, JP-A-5-10846 discloses a technique in which the time axis of the calculation and the test are made coincident, that is, in real time, in order to perform the experiment in consideration of the dynamic characteristics of the structure under test.

[0004]

In the numerical calculation used in the prior art, the stable calculation range is determined by the shortest natural period of the structure to be calculated and the calculation time step. Therefore, when the natural period to be evaluated is very short, it is necessary to make the calculation time step small according to the stability limit determined by the calculation method. ◆ Therefore, in the case of the quasi-dynamic test, the number of steps required to evaluate the response to seismic excitation for a certain period of time was large, and the experiment time was sometimes very long. In addition, since the amount of change in the vibration displacement of the vibration exciter in one step is small, the vibration accuracy deteriorates.

As a solution to this problem, a method of calculating the eigenmode of the entire structure by assuming the rigidity of the structure to be tested and performing a numerical calculation in the mode space, in which the one with a short natural period is removed is known. Conceivable. However, in this method, when the assumed spring constant is different from the actual spring constant, the obtained vibration characteristic has an error. ◆ In addition, if a vibration test shaker with dynamic characteristics including response delay is included in the real-time test, this will cause an error.
There was a possibility that the vibrational response would diverge. Further, in the prior art, since the vibration test using the vibration exciter is used, only the reaction force related to the relative deformation of both ends of the structure to be tested is considered. However, in the case of a real-time test, the inertial force related to acceleration may not be negligible in the measured reaction force,
This is different from the inertial force obtained by basic vibration, and there was a risk of a test error.

An object of the present invention is to easily and accurately perform a vibration test of only a part of a structure and a vibration response numerical analysis in combination, especially when the numerical analysis model has a short natural period. It is an object of the present invention to provide a vibration test apparatus for a structure capable of performing a vibration test or suitable for performing this vibration test with high accuracy, a digital computer used therefor, and a vibration test method.

[0007]

[Means for Solving the Problems] Vibration evaluation of a structure having a short natural period is carried out at relatively large time intervals,
And to make the accuracy high, the spring constant of the vibration test target is assumed, the eigenvalue analysis of the entire structure is performed using it, and the numerical calculation in the mode space is performed. This can be achieved by replacing the first-order lag system or the proportional system with the others and calculating as a second-order lag system to carry out the test, and by using a test apparatus capable of the above test.

Further, canceling out the negative damping generated by the vibration exciter response delay makes it possible to predict the vibration response of the second-order delay system after a time corresponding to the exciter response delay and to generate the exciter command signal. It is achieved by using and by a device in which the above can be implemented.

To carry out the prediction of the vibration response in a short time, the predicted value is the sum of the past response values at constant time intervals multiplied by a coefficient determined by the number of response values. This is achieved by using a different device.

The accurate execution of the prediction is to measure the displacement of the vibration exciter, compare it with the vibration response calculation value to be excited, and correct the constant time interval in the prediction so that the two agree with each other. Achieved by

To remove the error caused by the inertial force included in the reaction force, the mass of the structure to be vibration-tested is evaluated in advance, and the generated acceleration is measured or calculated to obtain the generated inertial force. It is achieved by removing the measured reaction force and using it for the vibration response calculation, and by making it a feasible device. It can also be achieved by mounting a vibration exciter and a structure to be vibration-tested on a vibration table and conducting a vibration test.

To easily carry out the vibration experiment, it is necessary to compare the natural frequency input to the computer with the judgment condition input in advance and determine whether to treat it as a second-order lag system or a first-order lag system. This is achieved by having a function of making a judgment and delivering it to the vibration response calculation processing means.

Further, to easily carry out the vibration experiment,
Before the actual vibration test, preliminary vibration with a small amplitude is performed to measure the spring constant of the structure under vibration test, and using this, the eigenvalue analysis of the entire vibration response evaluation structure is performed. To be carried out, and a device in which these can be carried out.

That is, the invention of the structure vibration testing apparatus and method according to the present invention is characterized by any of the following.
◆ (1): One or a plurality of vibration exciters that are connected to a structure to be excited (hereinafter, simply referred to as a structure) and vibrate the structure; a controller for the vibration exciter; Measuring means of load applied to the structure, measuring means of displacement applied from the shaker to the structure, digital computer, signal transmitting means from the digital calculator to the shaker control device, and load measuring means From the computer to the computer and from the displacement measuring device to the computer, the digital computer includes a time management device, an input device for the output of the load measuring device, and an input device for the output of the displacement measuring device. And an external force value storage means and / or an external force signal input means, and an external force value or signal, a load measurement value by the load measurement means, or a signal and a measurement value by the displacement measurement means. Or A means for calculating a command signal value to the vibration exciter after a predetermined period of time, a means for generating a command signal for the vibration exciter, an output means therefor, and an input / output means for data with the outside. However, the means for calculating the command signal value to the vibration exciter is an input calculating means, one or a plurality of secondary delay system and one or a plurality of primary delay system or proportional system response calculating means. , Signal value calculation means.

(2): In (1), the computer inputs the load value, the displacement value, and the external force value, calculates the shaker command signal after the fixed time from the load measurement time of the vibrator, and calculates the constant time. A command signal is generated and output so that a subsequent shaker command signal is input to the shaker control device, and the step of managing by a time management means to carry out the step every predetermined time, a predetermined number of times. , Or continuously repeated until a stop signal is input.

(3): In (2), the input calculating means obtains the difference between the load measurement value or the signal and the product of the predetermined coefficient and the displacement measurement value or the signal, and is predetermined for each system. The sum of the product of the coefficient and the product of the external force value or signal at the current step multiplied by the coefficient determined separately for each system is obtained and used as the input for each system.

(4): In (3), the response calculating means calculates the response after the predetermined time with respect to the input calculated for each system by the input calculating means. (5): In (4), the signal value calculation means is predetermined for each system as the response calculation value of each system of the secondary delay system among the response calculation values of each system of the response calculation means. Calculate the sum of products multiplied by a coefficient (hereinafter referred to as the sum of the response calculation values of the second-order lag system), predict the value of the sum after a predetermined time, and calculate the first-order lag or proportional The response calculation value of each system of the system is multiplied by a coefficient determined in advance for each system to calculate the sum (hereinafter referred to as the sum of the response calculation values of the first-order lag system), and the calculated value The sum is the command signal value to the vibration exciter after the fixed time.

(6): In (5), the computer is provided with a storage means for storing the sum of the response calculation values of the second-order lag system in the past, and the signal value calculating means has a fixed time of the sum of the response calculation values of the second-order lag system. Subsequent prediction is the sum of the past response calculation values for each predetermined time and the response calculation value of the current step for the predetermined number of predictions, among the values stored in the response calculation value storage means. A value obtained by multiplying the sum of the above by a predetermined coefficient and adding them together is used as a predicted value.

(7): In (5), the computer has a prediction time correction means, and the prediction time correction means is the sum of the displacement measurement value and the response calculation value of the second-order lag system and the response of the first-order lag system. The value added with the sum of the calculated values is compared to correct the time used for prediction by the excitation signal calculation means.

(8): In (7), the predictive time correction means is a first-order lag system which is a sum of the response calculated values of the second-order lag system, a displacement measurement value, and a fixed time before used for prediction. The correction value is calculated by comparing the difference in the calculated value of the sum of the response calculated values of.

(9): In any one of (1) to (8), a measuring device for the vibration acceleration of the vibration exciter and a data transmission means from the vibration acceleration measuring means to the vibration acceleration input means are further provided. In addition, the computer includes a vibration acceleration input means, and uses a difference between an actual load measurement value and a product of a predetermined coefficient and the acceleration measurement value as the load measurement value.

(10): In any one of (1) to (8), the computer has a vibration acceleration calculation means, and the acceleration calculation means calculates vibration acceleration from the vibration displacement measurement value. Yes, the difference between the actual load measurement value and the product of the predetermined coefficient and the acceleration calculation value is used as the load measurement value.

(11): In any one of (1) to (10), the structure to be vibrated and a vibrating table on which the vibrating machine is mounted are provided. ◆ (12): In any one of (1) to (11), when the natural frequency of the second-order lag system input to the computer is larger than a predetermined value, the second-order differential term is omitted. It has a function of replacing as a first-order lag system.

(13): In any one of (1) to (12), the calculator has a function of measuring the spring constant of the structure by vibrating the vibrator slightly, and the spring constant is input in advance. The function to perform the eigenvalue analysis using the numerical values, and the mode whose natural frequency is smaller than the value given in advance in the analysis result is set as the second-order lag system, and the value smaller than the value given in advance in the analysis result is set. A mode with a large natural frequency has a function of setting as a first-order lag system.

(14): One or a plurality of vibration exciters connected to the structure for vibrating the structure, a controller for the vibration exciter, and means for measuring a load applied from the vibration exciter to the structure. ,
An exciter displacement measuring means and a digital computer are provided, and the digital computer comprises an output means of the load measuring means, an input means of the output of the displacement measuring means, and a storing means and / or an external force value. External force signal input means, means for calculating a command value to the vibration exciter using the external force value or signal and the load measurement value or signal by the load measurement means, output means of the vibration signal, and vibration A displacement measurement value of the machine and the command value, a means for determining whether or not the difference between the displacement of the vibration exciter and the displacement command value is within a predetermined allowable value, and a means for converging data, and an input / output means for data with the outside. And a signal transmitting means from the digital computer to the vibration exciter control device, a signal transmitting means from the load measuring means to the computer, and a signal transmitting means from the displacement measuring means to the computer. The means for calculating the command signal value of Means out, one or a plurality of 2
It has a second-order lag system, one or more first-order lag system or proportional system response calculation means, and a signal value calculation means.

(15): In (14), the computer
Input of load value and external force value, calculation of shaker command signal,
The steps of generation and output of a command signal, displacement measurement, determination of convergence, and repetition of ~ as required are continuously repeated a predetermined number of times or until a stop signal is input.

(16): In (15), the input calculating means obtains a difference between the load measurement value or the signal and the product of the predetermined coefficient and the command signal value of the previous step, and determines in advance for each system. The sum of the product of the calculated coefficient and the product of the external force value at the current step multiplied by the coefficient determined separately for each system is obtained and used as the input for each system.

(17): In (16), the response calculation means calculates the response to the input calculated for each system by the input calculation means after a predetermined period of time.
(18): In (17), the signal value calculation means calculates the sum of the response calculation values of the respective systems of the response calculation means multiplied by a coefficient predetermined for each system, and the addition of the next step. The command signal value to the shaker.

(19) The whole structure to be evaluated is numerically modeled and mounted on a digital computer, a part of the structure to be evaluated is made into a real model, and one or a plurality of vibration exciters connected to the real model are used for vibration. Vibration, the load applied to the real model by the shaker is measured by the load measuring means, the displacement applied to the real model by the shaker is measured by the displacement measuring means, and the load value, the displacement value and the external force value are input,
The displacement of the boundary point between the actual model and other parts after a certain time from the time when the load of the shaker was measured is calculated as a shaker command signal, and the shaker command signal after a certain time is input to the shaker controller. As described above, the step of generating and outputting the command signal is time-controlled in the digital computer and is carried out at predetermined intervals, and the numerical model is used when continuously repeating a predetermined number of times or until a stop signal is input. Is a linear numerical model of the structure to be excited, and at least one of the eigenmodes obtained by calculating the eigenfrequency and eigenmode by eigenvalue analysis is a one-degree-of-freedom vibration system, that is, a second-order lag system. , At least one of the remaining eigenmodes is input to the digital computer as a first-order lag system or proportional system by omitting the inertial term, and the command signal value to the vibration exciter is calculated in the input calculation step. A response step of calculating one or a plurality of secondary delay system and one or a plurality of first-order system or a proportional system, carried out by the signal value calculation step.

(20): In (19), the digital computer comprises a time management means, a load measurement result input means,
Displacement measurement result input means, external force value storage means and / or external force signal input means, and an external force value or external force signal and a load measurement value or a signal equivalent to the load measurement value and a displacement measurement value based on a numerical model. A means for calculating the displacement of the boundary point between the real model and the other part after a predetermined time from the measurement time of the load measurement value using, and calculating the command signal value to the vibration exciter, And a means for inputting / outputting data to / from the outside of the computer.

(21): In (20), in the input calculation step, the difference between the load measurement value and the product value of the spring constant and the displacement measurement value of the numerical model of the actual model part is obtained, and the mode vector of each mode is obtained. The sum of the product obtained by multiplying the difference between the elements corresponding to both ends of the real model and the product obtained by multiplying the external force value at the current step by the stimulation factor of the external force for each mode, is used as the input for each mode. . (22): In (21), the response calculation step calculates the response after the fixed time with respect to the input calculated for each mode in the input calculation step.

(23): In (22), in the signal value calculation step, the response calculation value of each mode among the response calculation values of each mode of the response calculation step is added to the mode vector of each mode. Is calculated by multiplying the difference between the elements corresponding to both ends of the real model (hereinafter referred to as the second-order lag system response value), and the value of the sum is determined by a predetermined exciter response delay. Predict the previous value by the amount of time, and multiply the calculated response value of each mode obtained as a first-order lag or proportional system by the difference between the elements corresponding to both ends of the actual model of the mode vector of each mode (below The first-order lag system response value) is calculated, and the sum of the second-order lag system response value and the predicted value is used as a command signal value to the vibration exciter after the fixed time.

(24) In (23), in the signal value calculation step, the prediction of the second-order lag system response value after a fixed time is performed by the past second-order for each of a predetermined number of the vibrator response delay times. The delay system response value and the second-order delay system response value of the current step are multiplied by predetermined coefficients and then added together.

(25): In (23) or (24), the computer compares the displacement measurement value with the sum of the second-order lag system response value and the first-order lag system response value, and predicts when the excitation signal is calculated. Correct the set value of the vibration exciter response delay time used for.

(26): In (25), the correction of the vibration exciter response delay time is performed by changing the second-order delay system response value, the displacement measurement value, and the value before the vibration exciter response delay time set value used for prediction. The correction value is calculated by comparing the difference with the next-delay response value.

(27): In any one of (19) to (26), the vibration acceleration is measured or calculated, and is preset as an equivalent mass of the actual load measurement value and the actual model as the load measurement value. The difference between the coefficient and the product of the acceleration measurement value or the calculated value is used. ◆ (28): In any of (19) to (27),
The vibration exciter and the structure under test are mounted on a vibration table, and the vibration is applied by the acceleration applied to the structure at the same time as the vibration by the vibration exciter.

(29): In any one of (19) to (28), the computer has the input natural frequency of the second-order lag system larger than a predetermined value before carrying out the vibration experiment. In this case, there is a step of replacing the second-order differential term with a first-order delay system.

(30): In any one of (19) to (29), the computer measures the spring constant of the structure to be excited by vibrating the vibrator slightly, and the spring constant A step of carrying out an eigenvalue analysis using numerical values inputted in advance, and a mode in which the natural frequency is smaller than a value given in advance among the analysis results is set as a second-order lag system,
A mode in which the natural frequency is larger than a value given in advance in the analysis result is set as a first-order lag system, and then a vibration experiment is performed under given conditions. (3
1): The entire evaluation target structure is numerically modeled and mounted on a digital computer, a part of the evaluation target structure is used as a real model, and vibration is applied by one or a plurality of vibration exciters connected to the structure. , Measure the load applied to the real model by the shaker, input the load value, displacement value and external force value, calculate the shaker command signal, generate and output the command signal, displacement measurement, convergence judgment, if necessary In repeating the steps of, to repeat a predetermined number of times or until a stop signal is input, the numerical model
At least one mode among the eigenmodes obtained by calculating the eigenfrequency and eigenmodes by eigenvalue analysis by modeling the structure to be excited into a linear numerical model is a one-degree-of-freedom vibration system At least one of the eigenmodes is input as a first-order lag system or a proportional system by omitting the inertial term, and the command signal value to the vibration exciter is calculated by the input calculation step and one or more of the above. Of the second-order lag system and one or more of the first-order lag system or the proportional system response calculation step and the signal value calculation step.

(32): In (31), the digital computer has an external force value or an external force signal based on a numerical measurement model, an input unit for the load measurement result, an external force value storage unit and / or an external force signal input unit. And the load measurement value or a signal equivalent to the load measurement value is used to calculate the displacement of the boundary point between the actual model and the other part after a predetermined time from the measurement time of the load measurement value, and give a command to the vibration exciter. A means for calculating a signal value, an output means for outputting a command signal of the vibrator, a displacement measurement value of the vibrator and the above command value, and a difference between the displacement of the vibrator and the above displacement command value are predetermined. It is provided with a unit for determining whether or not it is within the allowable value and a unit for inputting / outputting data with the outside of the computer.

(33): In (31) or (32), the input calculation step obtains the difference between the load measurement value and the product of the spring constant of the numerical model of the actual model part and the command signal value of the previous step. , The sum of the product of the difference between the elements corresponding to both ends of the inner model of the mode vector of each mode and the product of the external force value at the current step multiplied by the stimulus coefficient of the external force value for each mode obtained in advance , Input for each mode. (34): In (33), the calculation step calculates the response to the input calculated for each mode in the input calculation step after the fixed time.

(35): In (34), in the signal value calculation step, the response calculation value of each mode of the response calculation means is multiplied by the difference between the elements corresponding to both ends of the model of the mode vector of each mode. And the sum is calculated and used as the command signal value to the vibration exciter.

(36): Using the vibration test apparatus according to any one of (1) to (13), a part of the structure to be evaluated is subjected to vibration as an actual model, and the entire structure is subjected to a linear numerical model. And perform the eigenvalue analysis in advance, and at least one of the eigenmodes obtained thereby is used as the second-order lag system in the response calculation means, and at least one of the remaining is used as the first-order lag system or the linear system. The spring constant of the vibration target structure portion in the modeling is set as a coefficient by which the command signal value of the previous step in the input calculation means is multiplied,
The stimulation coefficient for each mode of the external force calculated based on the eigenvalue analysis is a coefficient determined for each system to be multiplied by the external force value at the current step in the input calculation means,
The eigenmode of each mode calculated by eigenvalue analysis is the coefficient of the eigenmode vector of each mode calculated by eigenvalue analysis corresponding to both ends of the real model The difference between the elements corresponding to both ends of the vector model in the vector is used as a coefficient to be multiplied by the response calculation value of the second-order lag system to the first-order lag system or the proportional system in the signal value calculation means, and the response delay time of the vibration exciter is set to 2 It is the time used to predict the sum of the calculated response values of the next-delay system.

(37): Using the vibration test apparatus according to any one of (14) to (18), a part of the structure to be evaluated is subjected to vibration as an actual model, and the entire structure is subjected to a linear numerical model. And perform the eigenvalue analysis in advance, and at least one of the eigenmodes obtained thereby is used as the second-order lag system in the response calculation means, and at least one of the remaining is used as the first-order lag system or the linear system. The spring constant of the structure part to be excited in modeling is used as a coefficient by which the command signal value of the previous step is multiplied by the input calculation means, and the stimulation coefficient for each mode of the external force calculated based on the eigenvalue analysis is input calculation means. In the current step, the coefficient determined by each system is multiplied by the external force value, and the eigenmode vector of each mode calculated by eigenvalue analysis And a coefficient defined for each system in the input-calculating means the difference between the two ends to the corresponding element of the Le,
The signal value calculation means multiplies the difference between the elements corresponding to both ends of the eigenmode vector of each mode calculated by the eigenvalue analysis and the actual model, to the response calculation value of the second-order lag system to the first-order lag system or the proportional system. The coefficient.

By the way, the digital computer used in the vibration testing apparatus and the testing method for the present structure is related to a plurality of processors, a means for exchanging data between the plurality of processors, and the plurality of processors. And a means for awaiting processing, dividing a plurality of modes into a plurality of groups, and performing arithmetic processing of each group by the plurality of processors.

Further, the digital computer has a plurality of processors, means for exchanging data between the plurality of processors, and means for waiting the related processing between the plurality of processors. The processors may be divided into a plurality of processor groups, the plurality of modes may be divided into a plurality of groups, and the arithmetic processing of each group may be assigned to the plurality of processor groups and processed. Further, the processing of each mode group processed by each processor group may be divided into a plurality of processing stages, and the processing for each stage may be performed by each processor in each processor group.

In the case where a spring constant of a vibration test target is assumed, the eigenvalue analysis of the entire structure is performed using the spring constant, and the numerical calculation is performed in the mode space, the eigenmode of a short period is a first-order lag system or a proportional system. By performing the test by calculating as a second-order lag system and performing the test by replacing the others with a test device capable of performing the above test, the numerical calculation time step replaced by the first-order lag system or the proportional system is large. Since the divergence of the vibration response due to the occurrence does not occur, it is sufficient to determine the numerical calculation time step for the one having the shortest natural period among the modes handled as the second-order delay system. In addition, since the deformation due to the short period eigenmode is evaluated as the response of the first-order lag system or the proportional system, the value used for the eigenvalue analysis of the spring constant of the substructure under test and the actual value are Since the error is reduced even if they are different, it is possible to perform the vibration evaluation of the structure having a short natural period in a relatively large time step and improve the accuracy.

By predicting the vibration response of a time corresponding to the delay of the vibration exciter response of the second-order delay system and using it for creating the vibration exciter command signal, and by making it a device capable of implementing the above, the predicted time is obtained. Since the previous command signal is realized by the exciter after a delay, the displacement that should be realized will be realized by the exciter at the time when it should be realized. Can be offset.

Prediction can be performed by a simple product-sum operation by using the sum obtained by multiplying the response value for each fixed time interval in the past by a coefficient determined by the number of response values as the predicted value and by making the apparatus capable of implementing the above. Therefore, the vibration response can be predicted in a short time.

The displacement of the vibration exciter is measured, compared with the vibration response calculation value to be excited, and the constant time interval in the prediction is corrected so that the two agree with each other, thereby changing the dynamic characteristics of the vibration exciter. Since it is possible to perform the prediction that follows, it is possible to perform the prediction with high accuracy.

The mass of the structure to be subjected to the vibration test is evaluated in advance, and the generated acceleration is measured or calculated to obtain the generated inertial force, which is removed from the measured reaction force and used for the vibration response calculation. In addition, by adopting a device capable of performing the above, it is possible to remove the inertial force contained in the measured reaction force and perform the vibration response calculation using only the load related to the relative deformation of both ends of the vibration test target structure. Therefore, the error caused by the inertial force included in the reaction force can be removed.

Also, by mounting a vibration exciter and a structure to be vibration-tested on a vibration table and conducting a vibration experiment, the inertial force generated by the basic vibration can be correctly included in the reaction force. The error caused by the inertial force included in the force can be removed.

In the computer, the natural period input to the computer,
Alternatively, a quantity related to it (for example, natural frequency) is compared with a determination condition inputted in advance, and it is determined whether to handle as a second-order lag system or a first-order lag system, and the vibration response calculation processing means is executed. Since the tester does not need to determine which eigenmode is treated as the first-order lag system by providing the function of handing over, the vibration experiment can be easily performed.

Further, before the actual vibration test, preliminary vibration with a small amplitude is carried out to measure the spring constant of the structure to be vibration-tested, and using this, eigenvalue analysis of the entire vibration-response evaluation structure is carried out. It is not necessary to evaluate the spring constant of the vibration target substructure in advance and perform eigenvalue analysis using it by automatically performing the Experiment easily,
And it can be carried out accurately.

[0054]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. For example, consider a structure 1 as shown in FIG. As shown in FIG. 3, the partial structure 2 therein is vibrated by the vibration exciter 4, and the other part 3 is numerically modeled and mounted on the computer 5. The vibration exciter 4 is provided with a load measuring device 6, and the reaction force applied from the partial structure 2 to the vibration exciter 4 is measured. The measured reaction force is input to the calculator 5. The shaker 4 is controlled by the control device 7, and a command signal is calculated by the computer 5 and input to the control device 7.

Excitation force such as seismic force applied to the structure is sequentially input to the computer 5 or stored in a memory (not shown in the figure) in the computer. The step of calculating an external force vector from the generated reaction force, the step of calculating the vibration response of the external force vector after a fixed time of the numerical model, and the step of calculating the command value of the vibration exciter based on the vibration response calculation result are repeatedly performed. ◆ From the above, the vibration response in the state where the partial structure 2 is coupled to the other part 3 (structure 1) can be evaluated by the vibration test of only the partial structure.

The vibration response calculation carried out by the computer 5 is as follows. The part 3 other than the substructure 2 to be tested is numerically modeled as a mass matrix M, a damping matrix C, and a stiffness matrix K. Then, the equation of motion for the relative displacement vector x with respect to the foundation is written as follows using the external force vector q. In addition, · represents a derivative with respect to time.

[0057]

[Equation 1]

Here, the external force vector is composed of two components, an exciting force q ₁ such as seismic force and a measured reaction force q ₂ . That is,

[0059]

[Equation 2]

Using this, the vibration response after a minute time Δt is calculated. When the vibration response calculation result is realized by the vibration exciter 7, if only a static reaction force such as the spring constant of the structure under test 2 is handled, the result after Δt is calculated after a time larger than Δt. It does not matter if you realize it. Hereinafter, this test method is referred to as a "quasi-dynamic" test.

Further, in order to measure a dynamic component such as a damping force included in the reaction force q ₂ by a test and reflect it in the vibration response analysis, it is necessary to carry out the measurement in real time. This test method is hereafter referred to as the "real time" test.

Various algorithms can be used as the method of the numerical calculation. For example, in the known central difference method, the known information at the time t _i is converted into the time t _{i + 1} (t _{i +} The displacement response of ₁ = t _i + Δt) can be calculated.

[0063]

[Equation 3]

The above equation is calculated by matrix operation, but it is also possible to implement this in mode space.

In the numerical calculation used in the above technique, the stable calculation range is determined by the shortest natural period T _{min of the} structure to be calculated and the calculation time step Δt. For example, in the central difference method

[0066]

[Equation 4]

It is necessary that the relationship of is satisfied. Therefore, when the natural period to be evaluated is very short, it is necessary to make the calculation time step Δt small in accordance with (Equation 4) or the stability limit determined by the calculation method.

Therefore, in the case of the quasi-dynamic test, the number of steps required to evaluate the response to seismic excitation for a certain fixed time increases, and if the time required for one step is constant, the experimental time There was a problem that was very long. In addition, since the amount of change in the vibration displacement of the vibration exciter 7 in one step is small, there is a problem that vibration accuracy deteriorates. Further, when performing the real-time test, it is necessary to perform the response calculation process after the calculation time step Δt for at least Δt, but there is a fear that it cannot be performed when Δt becomes very small.

As a method for solving the above problem, the eigenmode of the entire structure 1 is calculated by assuming the rigidity of the structure 2 to be tested, and the numerical calculation is carried out in the mode space. Techniques for removing short ones have been proposed. However, in this method, when the assumed spring constant is different from the actual spring constant, the obtained vibration characteristic has an error.

The vibrator 4 used for the vibration test is
Generally, it has dynamic characteristics including response delay. That is, as shown in FIG. 4, the vibration displacement is realized with a slight delay with respect to the input signal. When the vibrator 4 having such characteristics is included in the real-time test, the linear spring having the spring constant k is evaluated as having the characteristics shown in FIG. 5, and when the delay time is δt.

[0071]

[Equation 5]

It has a negative damping c _eq such as
Therefore, this causes an error, and there is a problem that the vibration response diverges particularly when the absolute value of c _eq is larger than the damping of the structure itself.

Furthermore, in the above-mentioned prior art, since the vibration test by the vibration exciter 4 is used, only the reaction force related to the relative deformation of both ends of the structure 2 to be tested is considered. However, in the case of a real-time test, the measured reaction force may not be able to ignore the inertial force related to acceleration, but this is different from the inertial force obtained by basic excitation, which may cause a test error. was there.

The present invention has been made in order to solve such a problem, and in a vibration test apparatus and method for performing a combination of a vibration test of only a part of a structure and a vibration response numerical analysis, in particular, a numerical analysis To provide a vibration test device and method for a structure that can easily and highly accurately perform a vibration test even if a model has a short natural period, or that is suitable for highly accurately performing this vibration test. It is an object.

First, the outline of the vibration test method for performing the vibration response calculation using the mode space will be described. For example, consider the structure 1 shown in FIG. 2 as an experiment target. It is considered that the substructure 2 between the foundation and the mass point at the bottom is the subject of the vibration test, and the others are numerically modeled. Consider the basic acceleration as the external force. The equation of motion for basic vibration of the structure 1 including the substructure 2 is as follows when the damping term is omitted for simplicity.

[0076]

[Equation 6]

Here, M * is a mass matrix, K * is a stiffness matrix, x * is a relative displacement vector with respect to the foundation, and i is
Is a vector of all 1, and z is the basic acceleration.
Since these matrices and vectors include the partial structure 2 to be subjected to the vibration test and are different from (Equation 1), they are distinguished by attaching *.

Now, it is considered that the actual rigidity of the substructure 2 and the rigidity of the numerical model are different due to an estimation error in numerical modeling, a change in element characteristics during vibration, and the like. When the actual spring constant of the substructure 2 is k, the spring constant assumed as a numerical model is k ′, and the assumed rigidity matrix as a numerical model is K ′, the rigidity matrix K * of (Equation 6) is On the street.

[0079]

[Equation 7]

Here, E is a unit element rigidity matrix of the partial structure 2, and for example, in the case of a member of a supporting point as shown in FIG. ◆

[0081]

[Equation 8]

Substituting (Equation 7) into (Equation 6) and rearranging,
The following equation is obtained. ◆

[0083]

[Equation 9]

Here,

[0085]

[Equation 10]

Therefore, if the vibration response numerical calculation is performed by adding the load f shown in (Equation 10) as an external force to the equation of motion using the assumed stiffness matrix K ′ as in (Equation 9), then (Equation 6) is obtained. It turns out to be equivalent to calculating. ◆ By the way, rewriting (Equation 10) gives the following formula.

[0087]

[Equation 11]

Here, Δx is the relative displacement of both ends of the substructure 2 and is the vibration displacement by the vibration exciter 4, and r is 1 or 1 for the element corresponding to the node where the load of the internal force of the substructure 2 works. -1 (determined by the coordinate system), the other is a vector that is 0.

KΔx is a reaction force q ′ actually generated in the substructure 2 and can be measured, and k′Δx is an amount that can be calculated by measuring the displacement of the vibration exciter. Therefore, it is possible to carry out a vibration test using (Equation 9).
When the partial structure has a damping characteristic or a non-linearity, these characteristics are reflected in the measured reaction force, and are considered in the vibration response numerical calculation.

Now, in (Equation 9), the right side is set to 0, eigenvalue analysis is performed, and the eigenmode vector can be used to transform into a mode space. In the eigenvalue analysis, the following equation is obtained when n is the number of degrees of freedom.

[0091]

[Equation 12]

Here, u is a mode displacement vector, P is a mode matrix, and p _i is an i-th order mode vector.
In the following discussion, it is assumed that the eigenmode is standardized so that the mode mass is 1. That is, with I as a unit matrix,

[0093]

[Equation 13]

Even with this, generality is not lost. Using this, (Equation 9) can be rewritten as the following equation.

[0095]

[Equation 14]

Here, ω _i is the i-th order natural circular frequency, and T
Is transposed

[0097]

[Equation 15]

Where b is the stimulation coefficient vector for the basic excitation, g is the stimulation coefficient vector for the excitation force generated from the substructure 2,

[0099]

[Equation 16]

[0100]

[Equation 17]

It is The mode parameter obtained here is not necessarily a true value because it is obtained from the rigidity matrix K ′ of the assumed numerical model.

The above flow is summarized as shown in FIG. That is, the external force caused by the structure under test is calculated from the load measurement value and the displacement measurement value (step i), the mode external force is calculated from the calculated output and the external force from the seismic force, etc. (step ii), and then The modal response is calculated (step iii) and then converted to physical space (step iv). As a result, it is possible to carry out the same thing as the vibration test using (Equation 3) by the vibration calculation in the mode space. It is also possible to eliminate the eigenmode of a short period when performing the numerical value calculation of the vibration by (Equation 14). However, it is known that when the mode is removed, a difference between the spring constant k ′ assumed in the eigenvalue analysis and the actual spring constant k causes an error.

An embodiment of the present invention will be described below with reference to FIG. The partial structure 2 is vibrated by the vibration exciter 4. The vibrating machine 4 is provided with a measuring means 6 for a load applied to the partial structure 2 from the vibrating machine and a measuring means 8 for a displacement applied to the partial structure 2 by the vibrating machine 4. The value measured by the load measuring means 6 is transmitted by the load transmitting means 9 and input to the computer 5 which is a digital computer via the load inputting means 11.

The value measured by the displacement measuring means 8 is transmitted by the displacement transmitting means 10 and similarly input to the computer 5 via the displacement inputting means 12. The computer 5 is provided with either or both of the external force storage unit 15 and the external force input unit 16, and the external force such as the seismic force applied to the vibration response evaluation target structure 1 is stored or input.

The computer 5 includes the vibrator command signal calculating means 17
Is mounted, and a command signal to the vibration exciter 4 is calculated using the load measurement value, the displacement measurement value, and the external force value.
Further, a command signal generating means 18 is mounted, a command signal is generated based on the command signal calculation result, and is output via the command signal output means 13. The command signal is input to the control device 7 of the vibration exciter 4 via the command signal transmission means 14 to drive the vibration exciter.

Input of external force value, load measurement value, displacement measurement value,
The time managing means 19 manages the calculation of the shaker command signal, the generation of the shaker command signal, and the output of the shaker command signal.
For example, as shown in FIG. 7, it is repeatedly performed at regular time intervals.

The load / displacement measurement values and the vibration exciter command signal are transmitted as voltage signals, for example. In that case, the signal transmitting means 9, 10, 14 are cable lines. The signal input means 11 and 12 are A / D converters, and the signal output means 1
3 is a D / A converter. However, these signals may have other forms, and accordingly, the transmission means and the input / output means are also different.

The command signal calculating means 17 calculates a signal by the following procedure. However, the parameters (natural frequency, mode vector, stimulus coefficient, etc.) necessary for the following calculation are input in advance from the data input means (not shown) attached to the computer 5 and the following procedure is performed in the data storage means (not shown). Stored for use in.

(1) In the input calculation means 171, (Equation 1
The load applied to the structure 1 to be evaluated is calculated according to 1).
That is, the difference between the load measurement value q ′ and the product of the displacement measurement value Δx and the spring constant k ′ assumed in the numerical model (hereinafter, referred to as a partial structure-induced external force) is calculated. Also, the vibration acceleration value, which is an external force, is input. Then, the external force term for each mode is calculated from the right side of (Equation 14). The excitation force due to acceleration for a certain mode is the product of the element of the stimulation coefficient vector b for that mode and the acceleration value input in the previous step. Calculate the product of the element and the external force caused by the substructure. The excitation force for each mode is obtained by changing the sign of the sum of the two.

(2) The response calculating means 172 calculates the vibration response after Δt in each mode. At this time, the mode selected in advance is treated as a proportional system in which the second-order differential term of (Equation 14) is omitted or a first-order delay system in which a damping term is added. The other modes are treated as a second-order lag system and calculated by an algorithm such as (Equation 3). In addition, modes that are considered to have little influence on the vibration response may be removed.

(3) The signal value calculating means 173 calculates the command signal value (displacement Δx of both ends of the substructure 2 to be added after Δt) of the vibration exciter. In first secondary delay system, multiplied by the difference between the element corresponding to the node of the opposite ends of the partial structure 2 of that mode vector mode vibration response of each with respect to the mode of calculating the vibration response, taking the sum, which the [Delta] x _l (Equation 18).

[0112]

[Equation 18]

The same processing is performed for the mode calculated as the first-order lag system or the proportional system, and Δx _h is set.
Then the [Delta] x _l 'to predict the value of time later corresponding to vibration exciter delay time [Delta] x _l. Then, the sum of the two is used as a vibration exciter command signal Δx (Equation 19).

[0114]

[Formula 19]

From the above, the command signal value to the vibration exciter 4 is calculated. Further, the signal generating means 18 generates a signal according to the signal output means 13 and the vibration exciter 4 based on the calculated value. However, the output of the signal is carried out by the time management means 19 according to the time table of FIG.

The reason why the short cycle mode is treated as a first-order delay system or a proportional system as in the present embodiment will be described. Figure 8
Figure 3 shows a schematic diagram of the frequency response of the modes. The eigenmode with a short period or high frequency has an almost constant amplitude in the test execution range, and can be considered with a simple spring. Also, considering the energy dissipated by this element, it can be modeled as a first-order lag system.

If this mode is removed, the displacement that should be caused by this mode disappears and the displacement of the excitation point decreases. That is, the same thing as when the spring constant is overestimated occurs, which causes an error such as an increase in natural frequency. Assuming a proportional system or a first-order lag system, the time step Δt
Since the stability does not depend on, the time step may be determined by the minimum period in the modes treated as the second-order lag system. Therefore, a large time step can be taken.
It becomes easy to realize the processing shown in.

Further, as in the present embodiment, the response depending on the mode handled as the second-order delay system is predicted by the exciter delay time and is used as a command signal for the exciter. As shown in 9, the response is delayed by the vibration exciter by the predicted time, so that the response to be realized at the time to be realized can be realized.

The reason why the mode treated as the first-order lag system or the proportional system is not predicted is that the response prediction generally has a large error in the case of vibration having a shorter cycle than the prediction time. In the second-order lag system, this error cancels out because the response is almost zero in the frequency range higher than the natural frequency, but in the proportional system or the first-order lag system, the prediction error appears as it is, and the error in the vibration analysis Getting bigger,
In some cases, it cannot be performed stably.

According to this embodiment, since the time step can be made large, real-time testing can be easily realized. Further, since the response delay of the vibration exciter is corrected, a stable and highly accurate vibration test can be performed.

Another embodiment will be described with reference to FIG. FIG. 10 shows that the response calculated value storage means 20 is added to the embodiment of FIG. In the present embodiment, the response Δx _l related to the second-order delay system is predicted as shown in FIG. 11, and the response calculation value Δx at a time before the current time by each vibration device response delay time δt.
_Multiply lk by the coefficient defined in the following Table 1 and take the sum. However, the number m of data used for prediction can be arbitrarily selected.

[0122]

[Table 1]

That is, it is as follows.

[0124]

[Equation 20]

According to the present embodiment, the response can be predicted by a simple product-sum operation, so that the calculation time is short and therefore the processing shown in FIG. 7 can be easily performed. However, since the response calculation value is calculated for each calculation time step Δt, the value Δx _lk for each vibration device response delay time δt is not always obtained. In that case, the response calculation value at the time closest to the δt step is used as Δx _lk , or Δx _lk is calculated by interpolating the response calculation value, and the operation of _Expression 20 is performed.

Another embodiment will be described with reference to FIG. In this embodiment, a prediction time correction means 27 is provided in addition to the embodiment shown in FIG. In the embodiment shown in FIG. 1, the predicted value of the response value is inputted into the computer in advance. However, if this set value is different from the actual value or has changed during the test, the predicted signal It causes an error, and eventually an error in the vibration test.

Therefore, by comparing the value to be excited with the actual displacement and correcting the prediction time, the accuracy of the experiment is improved. The correction of the estimated time is performed as follows, for example.
Calculated relative displacement in substructure 2 Δx = Δx _l
The following integration is performed for + Δx _h and the measured value Δx ′ of the displacement of the vibration exciter 4 over one cycle.

[0128]

[Equation 21]

The following equation is used for the error of the integrated value I, the period T of vibration, the amplitude A, and the vibrator response delay time (that is, the difference between the actual delay time and the delay time used for prediction) δt '. It holds.

[0130]

[Equation 22]

This calculation is sequentially executed to change the prediction time as appropriate. According to this embodiment, the prediction time is always set to the actual value, so that the prediction accuracy, that is, the test accuracy can be increased. In addition, in the correction of the prediction time according to the present embodiment, Δx _l instead of Δx, and a value Δ represented by the following formula instead of Δx ′.
It is also possible to use x ″.

[0132]

[Equation 23]

According to this, since only the predicted portion is compared, there is an effect that the accuracy is further improved.

Still another embodiment will be described with reference to FIG.
In this embodiment, in addition to the embodiment of FIG. 1, the acceleration measuring means 21 is provided at the excitation point, and the measurement value thereof is the acceleration measurement value transmitting means 21.
1 transmitted to the computer 5 by the acceleration measurement value input means 22
Further, the calculation processing is performed using q ″ obtained by the following equation instead of the load measurement value q ′.

[0135]

[Equation 24]

The load measurement value includes the inertial force due to the mass of the substructure 2. In this test, however, the inertial force is determined by the relative acceleration at both ends of the substructure. However, in practice, an inertial force proportional to the absolute acceleration must be considered, which causes an error. Therefore,
In the present embodiment, the inertial force is removed from the load measurement value q ′ and only the load related to the relative deformation is used for the vibration response calculation. In the present embodiment, the numerical model needs to be modeled including the mass of the partial structure. In this embodiment, since the inertial force can be removed, a highly accurate vibration test can be carried out.

Still another embodiment will be described with reference to FIG.
In this embodiment, an acceleration calculating means 23 is provided instead of the acceleration measuring means 21 and the acceleration input means 22 of the embodiment shown in FIG. The acceleration calculator 23 differentiates the displacement measurement value to calculate the vibration acceleration. Using this value, the same processing as in the above embodiment is performed. According to this embodiment, the same effect as that of the above embodiment can be obtained, and the measuring means and the like are not necessary.

Still another embodiment will be described with reference to FIG.
In the present embodiment, the partial structure 2 and the vibration exciter of the embodiment of FIG. 1 are mounted on a vibrating table 28, and when a vibration test is performed, the vibrating table 28 is vibrated in a supported portion of the partial structure. It is driven at a power acceleration. According to this embodiment, since the measured reaction force includes the inertial force corresponding to the absolute acceleration, it is possible to perform a highly accurate vibration test. In the present embodiment, it is necessary to make a numerical model excluding the mass of the partial structure. It is also possible to install an acceleration measuring means in addition to the vibration and successively input the external force signal by the input means 16 to perform a test.

Another embodiment will be described with reference to FIG. In addition to the embodiment shown in FIG. 1, this embodiment adds to the computer 5 means 23 for automatically determining whether the eigenmode is treated as a second-order lag system, a first-order lag system, or a proportional system as preprocessing. It was done. The determination method is, for example, the magnitude of the natural frequency of each mode with respect to the reference value, and the reference value is input in advance by determining from the time step of the vibration calculation. According to this embodiment, the user can easily use the test device.

Another embodiment will be described with reference to FIG. In addition to the embodiment shown in FIG. 1, this embodiment includes a means 24 for measuring a spring constant of a partial structure by performing a vibration test of a small amplitude on a computer 5 as a pretreatment, and a structure using the spring constant. 1
A means 25 for carrying out the eigenvalue analysis is added. According to the present embodiment, the user can easily use the test apparatus and the spring constant becomes accurate, so that the vibration test can be accurately performed.

Another embodiment will be described with reference to FIG. The present embodiment is different from the embodiment of FIG. 1 in that the displacement convergence determining means 26 is provided, the response calculation value is not predicted, and FIG.
The time management as in the time table of No. 1 is not performed, but instead the displacement convergence determination means 26 is provided and the quasi-dynamic test is performed. Also in this embodiment, since the calculation time step can be set large, there is an effect that the number of test steps can be reduced and the test time can be shortened.

In the above description of the embodiment, the number of the test object structure 2 and the number of the vibration exciters 4 is one. However, even if one test object partial structure is vibrated by a plurality of vibration exciters. It doesn't matter. Also, there may be a plurality of substructures to be tested. The vibration test can be performed by the combination of the above description.

Further, in the above-mentioned embodiment, the part connected to the foundation as the partial structure is explained as the object of the vibration test, but the present invention is not limited to this, and any part of the structure may be used.

Further, although it has been explained that the calculation processing is performed by one computer, if the above contents can be implemented, the data may be exchanged and shared among a plurality of computers. The computer is not limited to one having one CPU, and it is also possible to use a parallel computer having a plurality of CPUs, for example. For example, one C
It is possible to reduce the calculation time required for one step by making the PU handle the response calculation for one mode.

Further, although the computer is not provided with the data input / output device, the display device and the like in the above embodiment, these are equipped with the same components as those of a normal computer. In addition, a system is used in which multiple computers are used, one computer is used for data input and processing such as eigenvalue analysis, and data is transferred from there to another computer to perform vibration response calculation of vibration test. It is also possible.

Further, in the above description of the embodiment, the uniaxial exciter was used, but in reality, it is necessary to adopt an exciting method corresponding to the degree of freedom of the boundary of the numerical model. For example, it is conceivable to use a 6-axis vibrator as shown in FIG. 49a-f are six actuators, and
Reference numerals 0a to 0f are bearings for mounting the respective actuators on a support base or a stage 51, and 51 is a stage on which a structure is mounted.

In the above-mentioned embodiment, the explanation was made by paying attention to the vibration test portion, but according to the present invention, it is also possible to calculate the vibration response other than the excitation point. Therefore, these calculation results can be stored in a computer or in a storage device attached to the computer so that they can be processed after the test is completed. It is also possible to output the data to the outside of the computer sequentially during the test.

A vibration test method according to an embodiment of the present invention will be described with reference to FIGS. 20 to 27. ◆ First, in step 31, the load value, the displacement value and the external force value are input to the computer, the input values for the displacement calculation are calculated, and then, in step 32, the actual model after a certain time from the load measurement time of the vibrator. The displacement of the boundary point between the and other parts is calculated, and this displacement is calculated as a vibration exciter command signal in step 33,
Input to the shaker controller. In this way, the real model is vibrated by the vibration exciter (step 34), and the load is measured (step 35) and the displacement is measured (step 36) (the two steps may be in reverse order or simultaneous).
Is performed and the end is appropriately determined (step 37), and if not ended, the process returns to step 31.

Next, the details of step 31 (input calculation step portion) will be described in detail with reference to FIG. First, the product of the displacement measurement value and the spring constant is calculated (step 101), and the difference between the result and the load measurement value is calculated (step 102). For example, when n is the number of modes using j and j is a counter, j = 0 (step 103), j = j + 1 (step 104) is obtained, and in step 105, both ends of the real model of the j-th mode vector are obtained. The product of the difference between the elements to be processed and the result of step 102 is calculated. Next, the product of the external force value and the jth mode stimulation coefficient is calculated (step 10
6) Then, the sum of the calculated value of step 105 and the calculated value of step 106 is calculated, and the j-th mode is input (step 107). The above steps 104 to 107 are performed as j <
Repeat as long as n (step 108). Note that the determination for exiting this loop may be different.

Details of step 32 (displacement calculation step) following step 31 will be described with reference to FIG. Note that n
₁ is the number of modes calculated as a second-order lag. j = 0
(Step 111), j = j + 1 (step 11
After obtaining 2), the response of the second-order delay system is calculated by inputting the result of step 107 (step 113). The product of the difference between the elements corresponding to both ends of the real model of the j-th mode vector and the result of step 113 is calculated (step 11
4), j <n ₁ through the above steps 112 to 114
As long as (step 115) is repeated. If j <n _{1 is} not satisfied, the total sum for the 1st to n _1st modes is calculated (step 116), the predicted value of the delay time ahead of the result of step 116 is calculated (step 117), and j = n ₁
(Step 118), j = j + 1 (step 11
After obtaining 9), the response of the first-order delay system is calculated by inputting the result of step 107 (step 120). Next, in step 121, the product of the difference between the elements corresponding to both ends of the real model of the j-th mode vector and the result of step 120 is calculated, and the above steps 119 to 121 are j <n.
As long as (step 122) is repeated. If j <n is not satisfied, the sum of the nth mode is calculated from (n ₁ +1) of the result of step 121 (step 123), and then the sum of the result of step 117 and the result of step 121 is calculated ( Step 124).

An example of step 117 in step 32 is shown in FIGS. 23 and 11. m is a score used for prediction (see Formula 20), a _k is a preset coefficient (see Table 1), and k is a counter. First, the result of step 116 is saved (step 201), and k = 0.
(Step 202), k = k + 1 (step 20
After determining 3), in step 204, step 2
Δx _lk is obtained from 01, and the product of this and a _k is calculated. These steps 203 and 204 are repeated as long as k <m (step 205). If k <m, step 204
The total sum of the above results is calculated and used as the predicted value (step 20).
6). In this way, in the signal value calculation step, the prediction of the sum of the response calculation values of the second-order lag system after a certain period of time is performed by calculating the sum of the past response calculation values of the predetermined number of constant time intervals and the response calculation value of the current step. The sum is multiplied by a predetermined coefficient and then added together.

In FIG. 24, FIG.
An alternative of the example of 3 is shown. That is, in step 210, the displacement measurement value and the displacement calculation value, that is, the predicted time is corrected by comparing the sum of step 116 and step 123,
Next, the predicted value is calculated (step 211). That is, in this example, the displacement applied to the actual model from the exciter is measured by the exciter displacement measuring means of the exciter, and this measured value is input to the calculator. The calculator calculates the displacement measurement value and the exciter command signal. The calculated value in step (the sum of step 116 and step 123) is compared, and the set value of the vibration exciter response delay time used for prediction by the vibration signal calculation means is corrected.

In FIG. 25, FIG.
Still another example of No. 3 will be shown. That is, the difference between the displacement measurement value and the value before the vibration exciter response delay time of the result of step 121 is calculated (step 220), and the prediction time is corrected by comparing the result of step 220 with the result of step 116 (step 221). ). Then, the predicted value is calculated (step 211). That is, in this example, the correction of the vibration exciter response delay time is obtained by multiplying the response calculation value of each system of the second-order delay system by the difference between the elements corresponding to both ends of the inner model of the mode vector of each mode. Calculate the sum and the difference between the displacement measurement value and the element corresponding to both ends of the actual model of the mode vector of each mode of the proportional system before the shaker response delay time set value used for prediction The correction value is calculated by comparing the difference between the product of the products and the sum.

Next, an alternative to the contents of step 102 in step 31 will be described with reference to FIG. That is, in step 231, the vibration acceleration is measured or calculated, in step 232, the product of a predetermined coefficient as the equivalent mass of the actual model and the acceleration measured or calculated value is obtained, and in step 233 the actual load is calculated. Measured value and step 2
The difference between the results of step 32 and step 101 is calculated using the result of step 233 as the load measurement value.

FIG. 27 shows an example of step 34 (see FIG. 20). That is, the vibration exciter and the structure to be tested are mounted on a vibrating table, and at the same time as the vibration by the vibrating machine (step 241), the structure is vibrated by the acceleration applied to the structure and then vibrated by the vibrating table (step 242).

Next, a vibration test method according to another embodiment of the present invention will be described with reference to FIG. ◆ The difference from the embodiment of FIG. 20 is that the computer determines the second derivative term when the natural frequency of the input second-order lag system is larger than a predetermined value before carrying out the vibration experiment. It has a step 38 of replacing as an omitted first-order lag system. That is, step 38 is a step of allocating the secondary delay system and the primary delay system according to the natural frequency.

Still another embodiment will be described with reference to FIGS. 29 and 30. First, the input is calculated similarly to the embodiment of FIG. 20 (step 29), and then the displacement of the boundary point is calculated (step 42). Next, an exciter command signal is generated (step 43), and the actual model is excited by the exciter (step 44). Unlike the example of FIG. 20, the displacement is measured in the next step (step 45), it is judged whether or not it is converged (step 46), and if it is not converged, step 43 is executed.
Then, if it converges, the load is measured (Step 4
7). After this, an end judgment is made (step 48), and unless it is ended, the process returns to the input calculation step (step 41).

FIG. 30 is a detailed diagram of step 42 (calculation of the displacement of the boundary point) in FIG. First, j = 0 is set (step 111), and then j = j + 1 (step 11).
2) is obtained, and the result of step 107 is input to
The response of the next-delay system is calculated (step 113), and in step 114, the product of the difference between the elements corresponding to the two ends of the real model of the j-th mode vector and the result of step 113 is calculated. Up to j
Repeat as long as <n ₁ (step 115), j <n ₁
If not, the total sum of the results of step 114 for the _1st to nth primary modes is calculated (step 116). Next, after obtaining j = n ₁ (step 118) and j = j + 1 (step 119), the response of the first-order lag system is calculated by using the result of step 107 as an input (step 120), and in step 121, j The product of the difference between the elements corresponding to both ends of the actual model of the next mode vector and the result of step 120 is calculated, and the above steps 119 to 121 are performed with j <
Repeat as long as n (step 122). j <n
Otherwise, the result of step 121 is (n ₁ +1) to n
Calculate the sum for the next mode (step 123),
Finally, the sum of the result of step 116 and the result of step 123 is calculated (step 124).

FIG. 31 shows still another embodiment of the present invention. The present embodiment shows a method of performing the processing 31 and the processing 32 in FIG. 20 in parallel. Processing 31 and processing 32 in FIG. 31 correspond to processing 31 and processing 32 in FIG. 20, respectively. Then, the processes 301 and 302 in FIG. 31 correspond to the processes 101 and 102 in FIG.

Since the processing 105 in FIG. 21 can be processed independently for each mode j, in FIG. 31, this processing is performed for each mode 305 to 305b and 305c to 305d.
Parallel processing with. That is, the processes of modes 1 to n are executed in parallel. Similarly, processing 106 and 107 in FIG.
31 can be processed independently for each mode j.
Then, this is processed for each mode 306 to 306
b, 306c to 306d; processing 307 to 307b, 30
7c to 307d perform parallel processing.

Since the processes 113 and 114 in FIG. 22 can be processed independently for each mode j, the processes 313 to 313b and 314 to 314 in FIG.
Parallel processing is performed at 314b. The process 316 of FIG. 31 is the same as that of FIG.
The processing 116 and the processing 317 of No. 2 correspond to the processing 117. Since the processes 120 and 121 in FIG. 22 can be independently processed for each mode j, the processes 320 to 320b and 321 to 321b are performed in parallel in FIG. 31 for each mode. The process 323 of FIG. 31 corresponds to the process 1 of FIG.
23, the process 324 corresponds to the process 124. Figure 31
, Processing 313-313b, 314-314b,
316, 317 and processing 320 to 320b, 321 to 32
Since 1b and 323 can be processed in parallel, they are processed in parallel as shown in FIG.

An example of a method of performing the above processing by a digital computer will be described below. The computer has a plurality of processors, a means for exchanging data between the plurality of processors, and a means for waiting a related process between the plurality of processors, that is, an interprocessor synchronization means.

As a method of exchanging data between the plurality of processors, there are, for example, a method of communicating between the processors and a method of providing a shared memory accessible by each processor. As one method of configuring the shared memory, for example, there is a method of using a shared resource access control device described in Japanese Patent Laid-Open No. 3-257649. According to this method, the shared memory can be accessed quickly and efficiently from each processor.

As a method of waiting the related processing among the plurality of processors, for example, the communication between the processors is performed to collect the interprocessor synchronization information in a specific processor, and the specific processor synchronizes with other processors. A method of processing, a method of providing an interprocessor synchronization flag on the shared memory, a method of performing a synchronization process using the flag, a method of using a hardware logic synchronization mechanism that directly executes a synchronization process according to an instruction from the processor, and the like. is there. An example of a hardware logic-based synchronization mechanism is a synchronization processing device between processors described in Japanese Patent Laid-Open No. 5-2568. According to this synchronization method,
The synchronization processing between processors can be performed at high speed and efficiently.

A shared memory system using the device described in JP-A-3-257649 and JP-A-5-256.
When the synchronous processing device between processors described in Japanese Patent No. 8 is used, the overhead due to parallel processing can be reduced,
The size of tasks processed by the processor can be reduced while maintaining high parallel processing efficiency. As a result, the parallelism of the processing target can be sufficiently brought out, and the processing time can be shortened.

FIG. 32 shows an example of a digital computer that performs the above processing. ◆ The computer 348 is the processor (1) 34
1-processor (n ₁ ) 342, processor (n ₁ +1)
A total of n processors 343 to (n) 344 are provided. A local memory is provided in each processor. ◆ Each processor 341 to 342, 343 for exchanging data between a plurality of processors
˜344 have shared memory 346 accessible via bus 347. An interprocessor synchronization flag is provided on the shared memory as an interprocessor synchronization means that waits for related processing among a plurality of processors.
A means for performing a synchronization process using this flag is provided. Here, in the external input / output device 345, each processor is a bus 3
A device for inputting / outputting data to / from the outside via 47.

FIG. 34 shows another embodiment of the digital computer for performing the above-mentioned processing. ◆ The digital computer 375 includes a processor (1) 363 to a processor (n1) 364, a processor (n ₁ +1) 365 to a processor (n) 366.
, A total of n processors. In each processor, local memory and local shared memory LCM
371 to 374 are provided. The local shared memory is an inter-processor shared memory that accesses only the local shared memory in the processor i when reading from the processor i and writes the write data to the local shared memory in all the processors when writing. As means for configuring this local shared memory, for example,
There is means disclosed in Japanese Patent Laid-Open No. 3-257649. By using the local shared memory described in this publication, access competition for the shared memory can be reduced, access overhead for the shared memory can be reduced, parallel processing efficiency can be improved, and parallel processing time can be shortened.

As an inter-processor synchronizing means for waiting a related process among a plurality of processors, a hardware logic inter-processor synchronizing mechanism 370 is provided. As an example of the interprocessor synchronization mechanism, Japanese Patent Laid-Open No. 5-2 is known.
There is a synchronization processing device between processors described in Japanese Patent No. 568. By using this synchronous processing device, the access overhead for the inter-processor synchronous processing can be reduced, the parallel processing efficiency can be improved, and the parallel processing time can be shortened. Note that 368 and 369 indicate buses. The external input / output device 345 is a device in which each processor inputs / outputs data from / to the outside via the bus 347.

In the computer of this embodiment, each processor i may have a plurality of CPU sections. Then, it may have a shared memory accessible from a plurality of CPUs. When each processor i has two CPU units, a dual port RAM (DPR) accessible from each of the two CPUs may be provided. Note that this type of related technology is disclosed in Japanese Patent Laid-Open No. 61-361
For details, see Japanese Patent Publication No. 57.

An example in which the processing shown in FIG. 31 is performed by a digital computer will be described with reference to FIG. The process 325, 329 in FIG. 31 is performed by the processor (1) in FIG.
In step 341, the processes 326 and 330 in FIG.
Processor Processor (n ₁₎ 342, in FIG. 32 the processing 327,331 in FIG. 31 in the (n ₁
+1) 343, the processes 328 and 332 in FIG. 31 are processed by the processor (n) 344 in FIG. Similarly, the processes for the 2, 3, ..., (n ₁ -1) th order modes are performed by the processor (2), the processor (3) ,.
..., processed by the processor (n ₁ -1), (n ₁ +2),
(N ₁ +3), ... (n-1) The processing for the next mode is performed by the processor (n ₁ +2), the processor (n ₁ +3),
..., processed by the processor (n-1). Here, the data to be exchanged between the processors is stored in the shared memory 346.

In FIG. 31, the result of the process 302 is stored in the shared memory 346, and the results of the processes 305 to 305 are stored.
b, when referring to the result of the process 302 in 305c to 305d, the result of the process 302 on the shared memory is referred to. Further, the results of the processes 314 to 314b of FIG. 31 are stored in the shared memory 346, and the result on the shared memory 346 is referred to in the process 316. Processing 32 of FIG. 31
The results of 1 to 321b are stored in the shared memory 346, respectively, and the process 323 refers to the results in the shared memory 346. The results of the processes 317 to 323 in FIG. 31 are stored in the shared memory 346, and the result in the shared memory 346 is referred to in the process 324. When the access to the data on the shared memory is synchronized between the processors, a synchronization flag is provided on the shared memory 346, and the synchronization is performed using software.

As another method for synchronizing the access to the data on the shared memory among the processors, for example, there is a method using the interprocessor synchronous processing device described in Japanese Patent Laid-Open No. 5-2568. According to this method, there is an effect that the synchronization processing can be performed at a higher speed than the method of synchronizing using the software described above. Further, as one method of configuring the shared memory 346, for example, Japanese Patent Laid-Open No. 3-25764
There is a method of using the shared resource access control device described in Japanese Patent No. According to this method, the shared memory 346 can be efficiently accessed. That is, even if the computer shown in FIG. 34 is used, the processing shown in FIG. 31 can be performed in the same manner as in the above-described embodiment. Further, as a method of exchanging data between processors, inter-processor communication may be performed without using the shared memory 346. Here, the input / output of data with the outside is performed using the external input / output device 345.

According to this embodiment, the time required for the processes 31 and 32 can be shortened. This is particularly effective when the number of degrees of freedom n is large. In this embodiment, each mode j
Each process is performed by the processor j. For example, the process in the 1, 2, and 3rd-order modes is performed by the processor 1, 4, 5,
The processing of the sixth mode may be processed by the processor 2, and the processing of a plurality of modes such as ...

Still another method of performing the processing shown in FIG. 31 using a digital computer will be described. ◆ Divide multiple processors into multiple processor groups, and divide multiple modes into multiple groups. Then, the arithmetic processing of each group is assigned to a plurality of processor groups. As an example of this, there is a method in which the processing of each group in the mode processed by each processor group is divided into a plurality of processing stages, and the processing in each stage is performed by each processor in each processor group. One example thereof is shown in FIG.
Will be described with reference to FIG.

FIG. 33 shows an embodiment of a digital computer, and the computer has 2n processors of processor (1) a351, processor (1) b352 to processor (n) a357, and processor (n) b358. Except for the points, it has the same configuration as the computer shown in FIG.

In FIG. 31, the above processing groups are determined as follows. That is, the processing 325 for the primary mode
And processing 329 consisting Metropolitan treatment group 1, n treatment group n ₁ consisting of _a primary mode for processing 326 and the processing 330., (n ₁ +1) consists of a process 327 for the next mode processing 331 Metropolitan treatment groups (n ₁ +1 ), Processing group n consisting of processing 328 and processing 332 corresponding to the n-th mode, and similarly 2, 3, ..., (n ₁ -1)
Processing groups for the next mode are processing group (2), processing group (3), ..., Processing group (n
₁ −1), (n ₁ +2), (n ₁ +3), ..., (n
-1) Processing groups for the next mode are processing group (n ₁ +2), processing group (n ₁ +3), ..., Processing group (n-1).

Each processing group thus defined is divided into the following stages. ◆ That is, processing group (1) is processed 325 and processing 329, processing group (n1) is processed 3
26, processing 330, processing group (n ₁ +1) 3
27 and processing 331, and processing group (n) is divided into processing 328 and processing 332. 2, 3, ...,
A processing group for the (n ₁ -1) th mode, (n ₁ +
The processing groups for the 2), (n ₁ +3), ..., (n−1) th mode are also divided in the same manner.

In FIG. 33, the processor groups are defined as follows. ◆ That is, a processor group i (i consisting of processor (i) a and processor (i) b
= 1, 2, ..., N).

Then, the processor (1) a: 351 of the processor group 1 performs the processing of the stage 325, and the processor (1) b: 352 performs the processing of the stage 329. Similarly, the processor (n ₁ ) a: 353 of the processor group n ₁ performs the processing of the stage 326, the processor (n ₁ ) b: 354 performs the processing of the stage 330, and the processor (n ₁ +1) of the processor group (n ₁ +1) ( The processing of the stage 327 is performed at (n ₁ +1) a: 355, and the stage 33 is performed at the processor (n ₁ +1) b: 356.
1 is performed, the processor (n) a: 357 of the processor group n performs the process of stage 328, and the processor (n) b: 358 performs the process of stage 332. The processing of the other stages is similarly performed. Here, the data transfer between the processor ia and the processor ib is performed using the shared memory 360. Data exchange between the other processors is performed in the same manner as in the above-described embodiment. With this configuration, the processing shown in FIG. 31 can be processed at high speed.

In the present embodiment, taking the processing of the nth mode as an example, the stage is composed of the stage of processing 328 consisting of processing 305d, processing 306d and processing 307d shown in FIG. 31, and processing 320b and processing 321b. Although it is divided into the stage of process 332, process 328, process 3
The plurality of processes forming 32 may be divided into stages of other combinations. For example, the process 305d and the process 306d may be one stage, and the process 307d, the process 320b, and the process 321b may be another stage. Here, from the viewpoint of improving the processing efficiency, it is preferable to configure the stages so that the processing time of each stage is approximately the same, and it is preferable to provide several processors in the processor group.

The processing shown in FIG. 31 can also be performed by using the computer shown in FIG. In this case, there is an effect that the processing can be performed at a higher speed than in the case of using the computer shown in FIG. In particular, each processor shown in FIG. 34 has two CPU parts and a DPR accessible from both CPUs.
If the processing of each mode is divided into two stages and processed by each CPU, the data transfer between the CPUs can be performed using the DPR, and more efficiently.
The process shown in can be performed.

Although the present invention has been described with reference to the representative embodiments, the present invention is not limited to the above embodiments,
Various forms are possible without departing from the gist of the present invention.

[0183]

According to the present invention, since the divergence of the vibration response due to the eigenmode of a short period can be avoided, it is possible to take a large time step in the vibration response calculation, and the real-time test can be easily performed. Further, in the quasi-dynamic test, there is an effect that the test time can be shortened. Further, since various error factors in the real-time test can be removed, a highly accurate test can be performed.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a vibration test apparatus of the present invention.

FIG. 2 is a schematic diagram showing an example of a vibration response evaluation target structure.

FIG. 3 is a schematic diagram of a vibration test method according to a conventional technique.

FIG. 4 is a characteristic diagram of dynamic characteristics of a vibration exciter.

FIG. 5 is a characteristic diagram of negative damping caused by a delay in a vibration exciter response in a real-time test.

FIG. 6 is a flow chart of a vibration test using a mode space.

FIG. 7 is a time table diagram for performing a vibration test.

FIG. 8 is a schematic diagram of modal frequency response.

FIG. 9 is an explanatory diagram of an effect of response delay prediction.

FIG. 10 is a block diagram showing another embodiment of the vibration test apparatus of the present invention.

11 is an explanatory diagram of a response prediction method according to the embodiment of FIG.

FIG. 12 is a block diagram showing another embodiment of the vibration test apparatus of the present invention.

FIG. 13 is a block diagram showing another embodiment of the vibration test apparatus of the present invention.

FIG. 14 is a block diagram showing another embodiment of the vibration test apparatus of the present invention.

FIG. 15 is a block diagram showing another embodiment of the vibration test apparatus of the present invention.

FIG. 16 is a flow chart of an example according to the vibration test method of the present invention.

FIG. 17 is a flowchart of another example according to the vibration test method of the present invention.

FIG. 18 is a block diagram showing another embodiment of the vibration test apparatus of the present invention.

FIG. 19 is a conceptual diagram of a 6-degree-of-freedom exciter.

FIG. 20 is a flow chart of another example according to the vibration test method of the present invention.

FIG. 21 is a detailed flowchart of part of FIG. 20;

22 is a detailed flowchart of a part of FIG. 20. FIG.

FIG. 23 is a detailed flowchart of a portion of FIG. 22.

FIG. 24 is a detailed flowchart of part of FIG. 22;

FIG. 25 is a detailed flowchart of part of FIG. 22;

FIG. 26 is a detailed flowchart of part of FIG. 21;

FIG. 27 is a detailed flowchart of a portion of FIG. 20.

FIG. 28 is a flow chart of another example according to the vibration test method of the present invention.

FIG. 29 is a flowchart of another example according to the vibration test method of the present invention.

30 is a detailed flowchart of a portion of FIG. 29. FIG.

FIG. 31 is a flowchart showing one example of the present invention.

FIG. 32 is a diagram showing an embodiment of a digital computer used in the present invention.

FIG. 33 is a diagram showing another embodiment of the digital computer used in the present invention.

FIG. 34 is a diagram showing another embodiment of the digital computer used in the present invention.

[Explanation of symbols]

1 ... Vibration response evaluation target structure, 2 ... Vibration test target partial structure, 3 ... Substructure other than vibration test target partial structure,
4 ... Exciter, 5 ... Calculator, 6 ... Load measuring means, 7 ... Exciter control device, 8 ... Displacement measuring means, 9 ... Load measurement value transmitting means, 10 ... Displacement measuring means transmitting means, 11 ... input means for load measurement value, 12 ... input means for displacement measurement value, 13 ...
Exciting means command signal output means, 14 ... Exciting machine command signal transmitting means, 15 ... External force signal storing means, 16 ... External force signal input means, 17 ... Exciting machine command signal calculating means, 171 ...
Input calculation means, 172 ... Response value calculation means, 173 ... Signal value calculation means, 18 ... Signal generation means, 19 ... Time management means, 20 ... Response calculated value storage means, 21 ... Acceleration measurement means, 211 ... Acceleration measurement value transmission Reference numeral 22 ... Acceleration measurement value input means, 23 ... Mode automatic determination means, 24 ... Spring constant measurement means, 25 ... Eigenvalue analysis means, 26 ... Displacement convergence determination means, 27 ... Prediction time correction means, 28 ... Shaking table.

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takao Konno 603 Kazutachi-cho, Tsuchiura-shi, Ibaraki Hitachi Co., Ltd. Tsuchiura factory (72) Inventor Kazuhiro Umekita 502, Kintate-cho, Tsuchiura-shi, Ibaraki Hitachi Ltd. Mechanical Research In-house (56) Reference JP-A-7-27664 (JP, A) JP-A-5-332876 (JP, A) JP-A-5-10846 (JP, A) JP-A-2-82132 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01M 7/02 G05D 19/02

Claims (10)

(57) [Claims] 1. A vibrating machine connected to a structure to be vibrated for vibrating the structure, a controller for the vibrating machine, and means for measuring a load applied from the vibrating machine to the structure. A measuring unit for measuring a displacement applied to the structure from the vibration exciter, and a digital computer, the digital computer including a time management unit;
Input means of output of the load measuring means, input means of output of the displacement measuring means, storage means of external force value and / or input means of external force signal, load measurement by the external force value or signal and the load measuring means Means for calculating a command signal value to the vibration exciter after a predetermined time from the measurement time of the load measurement value or the signal using the value or the signal, and output means of the command signal of the vibration exciter , A signal transmitting / receiving unit for data from / to the outside, further, a signal transmitting unit from the digital computer to the vibrator control device, a signal transmitting unit from the load measuring unit to the computer, and the displacement measuring unit. In the vibration testing apparatus for a structure, including means for transmitting a signal from the computer to the computer, the means for calculating the command signal value to the vibration exciter includes an input calculating means, a secondary delay system, a primary delay system, or a proportional system. system Vibration testing device of a structure, characterized in that it comprises a response calculation means, and a signal value calculation means. 2. The computer is configured to input a load value, a displacement value, and an external force value, calculate a vibration exciter command signal after the fixed time from a load measurement time of the vibration exciter, and to perform the vibration exciter after the constant time. The step of generating and outputting a command signal so that the command signal is input to the vibration exciter control device is managed by the time management means and carried out at each of the fixed times, a predetermined number of times or stopped. The vibration testing device for a structure according to claim 1, wherein the vibration testing device repeats continuously until a signal is input. 3. The input calculating means obtains a difference between the load measurement value or signal and a product of a predetermined coefficient and the displacement measurement value or signal, and multiplies the coefficient by a predetermined coefficient for each system. 3. The method according to claim 2, wherein a sum of a value obtained by multiplying the external force value or the signal at the current step by a coefficient determined separately for each system is obtained as an input of each system. Vibration tester for structures. 4. The structure according to claim 3, wherein the response calculation means calculates a response to the input calculated for each system by the input calculation means after the fixed time. Vibration tester for objects. 5. The signal value calculation means multiplies the response calculation value of each system of the secondary delay system among the response calculation values of each system of the response calculation means by a coefficient predetermined for each system. The sum of the values is calculated, the value of the sum is predicted after another predetermined time, and the coefficient calculated in advance for each system in the response calculation value of each system of the primary delay or proportional system is calculated. 5. The vibration of the structure according to claim 4, wherein a sum of those multiplied by is calculated, and the sum with the predicted value is used as a command signal value to the vibration exciter after the fixed time. Test equipment. 6. The computer comprises a vibration acceleration input means and a vibration acceleration input means.
A vibrating machine vibration acceleration measuring device and the vibration acceleration measuring means.
Data transmission means to the vibration acceleration input means
Well, as the load measurement value, the actual load measurement value and predetermined
The difference between the coefficient and the product of the acceleration measurements is used.
Any of claims 1 to 5, characterized in that
A vibration test apparatus for a structure according to claim 1. 7. A structure which is connected to a structure to be excited and vibrates the structure.
Exciter, control device for the exciter, and the front of the exciter
Means for measuring the load applied to the structure and the vibration of the vibration exciter.
It is equipped with a vibration displacement measuring means and a digital computer.
Tal calculator, input means of the output of the load measuring means,
Input means for the output of the displacement measuring means and a storage means for the external force value
Step and / or external force signal input means, and the external force value
Is the signal and the load measurement value or the signal measured by the load measuring means.
Means for calculating the command value to the vibration exciter using
Output means for command signal of vibration exciter, and displacement meter of the vibration exciter
The difference between the measured value and the command value must be within the predetermined allowable value.
A means to judge whether it is locked or not, and input data from the outside.
Output means, and further, the digital computer outputs the input
The signal transmission means to the shaker control device and the load measuring means
From the computer to the computer and the displacement measuring means
Vibration of a structure including a signal transmission means to the computer
In test apparatus, to calculate the command signal value to the vibration exciter
The input calculation means, the secondary delay system and the primary delay system
Or a proportional system response calculation means and a signal value calculation means
A vibration testing device for structures, characterized by 8. The whole structure to be evaluated is numerically modeled and de-allocated.
It is mounted on a digital computer and a part of the structure to be evaluated is actually mounted.
Excitation with a shaker connected to the actual model as an actual model
The load applied to the real model by the vibrator.
And the displacement are measured, and (1) load value, displacement value and external force value
Input, (2) Actual after a certain time from the load measurement time of the shaker
Displacement of boundary point between physical model and other parts
Calculated as a signal, (3) the vibrator finger after the fixed time
Command signal so that the command signal is input to the shaker control device.
The step of generating and outputting the signal is performed in the digital computer.
Managed for a fixed period of time
Repeat continuously until the number of times or stop signal is input
In the vibration test method for structures, the numerical model
Linear numerical model of the structure to be shaken and eigenvalue analysis
Of the eigenmodes obtained by calculating the eigenfrequency and eigenmodes
Of these, at least one mode is a second-order lag system, and the remaining
Inertia is omitted for at least one of the eigenmodes
Input as a first-order lag system or proportional system to the above-mentioned vibration exciter.
Command signal value is calculated by input calculation step and secondary delay
System and first-order lag system or proportional system response calculation step, and
A structure characterized by being carried out by a sign value calculation step.
Vibration test method for structures. 9. A numerical model of the entire structure to be evaluated is used as a model.
It is mounted on a digital computer and a part of the structure to be evaluated is actually mounted.
As an object model, vibrate with an exciter connected to the structure,
Measure the load applied to the real model by the shaker
Then, (1) input of load value, displacement value and external force value, (2) addition
Calculation of shaker command signal, (3) Generate and output command signal,
(4) Displacement measurement, (5) Convergence judgment, (6) As required
The steps of (3) to (5) are predetermined.
Repeatedly, or continuously until the stop signal is input.
In the vibration test method for the returned structure, the numerical model
Is a linear numerical model of the structure to be excited, and the eigenvalue analysis
The eigenmodes and eigenmodes calculated by
At least one of the modes is a second-order lag system,
At least one of the remaining eigenmodes is an inertial term
Is omitted and input as a first-order lag system or proportional system.
The command signal value to the shaker is calculated in the input calculation step and the previous
Note Calculation of response of second-order lag system and the first-order lag system or proportional system
Step and signal value calculation step
Vibration testing method for structures characterized by. 10. Use of the vibration test apparatus according to claim 7.
Then, a part of the structure to be evaluated is excited as an actual model.
The target is the linear numerical model of the entire structure and its unique
Eigenmodes obtained by performing value analysis in advance
At least one of the two
And at least one of the rest is a first-order lag system or line
A structural system, and the structure part to be excited in the numerical modeling
Input the spring constant of the minute
Based on the above eigenvalue analysis, the coefficient is multiplied by the signal value.
Input the stimulation coefficient for each mode of external force calculated by
It is multiplied by the external force value at the current step in the calculation means.
The coefficient determined for each system
Of the eigenmode vector of each mode calculated by
The difference between the elements corresponding to both ends of the physical model is used as the input calculation means.
Eigenvalue analysis
Of the eigenmode vector of each mode calculated by
Signal value calculation of the difference of elements corresponding to both ends with the actual model
By means of a second-order lag system to a first-order lag system or a proportional system
A structure characterized in that the coefficient is multiplied by the calculated response value.
Vibration test method for structures.