JP5899088B2 - Active vibration damping device and method for determining arrangement thereof - Google Patents

Description

  The present invention relates to an active vibration damping device that suppresses out-of-plane vibration of a face material such as a floor material and a method for determining the arrangement thereof.

  In Utility Model Registration No. 2531481, a signal to be fed back is set as a modal response of vibration to be controlled, and the same number of vibration sensors as the number of modes to be controlled for obtaining the modal response are installed in the control target. It is described that the signal obtained as the sensor output is decomposed into a modal response. There is a similar description in Japanese Patent Laid-Open No. 3-282032.

Utility Model Registration No. 2531481 JP-A-3-282032

  In general, modal filtering is processing on the premise that the natural mode vector of vibration is a real number. However, in a situation where a face material such as a flooring is installed in the main structure by a general method, a general non-proportional attenuation in which the assumption of Rayleigh attenuation is not satisfied. In the case of non-proportional decay, the eigenmode vector is a complex number. Therefore, modal filtering cannot be applied as it is.

  For example, depending on the arrangement of the sensor, separation into an effective modal response may be difficult due to modal filtering. Therefore, depending on the arrangement of the sensor, a sufficient vibration suppressing effect may not be obtained. And it is not easy to determine the arrangement of sensors that can be well separated into modal responses.

  The present invention has been made in view of such circumstances, and provides an active vibration damping device capable of reliably suppressing vibration of a face material with a small number of sensors and a method for determining the arrangement of the device. With the goal.

(Active vibration control device)
The active vibration damping device according to this means is an active vibration damping device that suppresses out-of-plane vibration of a face material, and is disposed on the vibration damping actuator disposed on the face material and the face material, A plurality of sensors that detect out-of-plane vibrations, and a control device that controls the vibration damping actuator based on detection values detected by the plurality of sensors. The plurality of sensors includes a phase difference of m-order complex eigenmode vector components (m is an integer equal to or greater than 1) at each sensor candidate position, and an orthogonality of the m-th order complex eigenmode vector at each sensor candidate position. The position is determined based on the sex evaluation value.

  The arrangement position of the plurality of sensors can be set to a position where the phase difference of the m-th order complex eigenmode vector component becomes small from any position (sensor candidate position) on the face material. Therefore, since the phase difference of the intrinsic modal response between the plurality of arranged sensors becomes small, it can be handled in the same way as the actual mode, and the modal filtering process can be applied to the detection values of the plurality of sensors. .

  Furthermore, the orthogonality evaluation value is considered in the arrangement positions of the plurality of sensors. When there is orthogonality to each other, the modal filtering process can be applied. On the contrary, when it is close to the primary dependency, the modal filtering process cannot be applied. Therefore, by considering the orthogonality evaluation value and arranging a plurality of sensors so as to be orthogonal to each other, modal filtering processing can be applied to the detection values of the plurality of sensors.

  Therefore, in the face material having the complex eigenmode, the out-of-plane vibration of the face material can be surely suppressed by controlling the vibration damping actuator based on the detection values of a small number of sensors.

  Further, the vibration control actuator includes a phase of an m-th order complex eigenmode vector component at a candidate position on the face material of the vibration suppression actuator and a phase of an m-th order complex eigenmode vector component at each candidate position of the plurality of sensors. It may be arranged at a position determined based on the phase difference.

  Here, the vibration damping actuator is controlled based on the detection value of the sensor. If there is a phase difference in the eigenmode vector component between the sensor position and the position of the vibration suppression actuator, the control force calculated from the sensor detection value is output to the vibration suppression actuator. A phase difference occurs in the modal response vibration at the position of the actuator. If it does so, there exists a possibility that a damping effect may be impaired. Therefore, as described above, by arranging the vibration damping actuator in consideration of the phase difference of the intrinsic modal response between the vibration damping actuator and the sensor, the phase difference between the two intrinsic modal responses can be reduced. As a result, the out-of-plane vibration of the face material can be reliably suppressed.

  The mth order may be a plurality of mode orders. In general, the vibration of the face material has a modal response component of many mode orders. And the control force of a vibration control actuator is made into the control force which synthesize | combined the control force component of each mode order, and the vibration component of a several mode order can be suppressed. Therefore, the plurality of sensors are set to positions determined based on the phase difference of the m-th order complex eigenmode vector component at each sensor candidate position and the orthogonality evaluation value of the m-th order complex eigenmode vector at each sensor position. Deploy. That is, since the arrangement of the plurality of sensors is determined in consideration of the phase differences and orthogonality evaluation values of all the plurality of mode orders, the vibration suppressing effect is reliably exhibited for all the plurality of mode orders.

  The plurality of sensors are arranged at positions where the phase difference of the m-th order complex eigenmode vector component at the candidate position of each sensor is within a setting range, and the phase difference setting range passes through the origin on the complex plane. It is good also as a range determined by between two threshold lines with which inclination differs.

  By using such a threshold straight line, sensor candidate positions having a large phase difference are eliminated, and sensor candidate positions near the origin on the complex plane are eliminated. In the vicinity of the origin, the amplitude of the modal response is small, so that it is likely to be affected by various noises, and the vibration suppressing effect may not be obtained. Therefore, by determining the sensor placement position from the range determined between the two threshold straight lines, the vibration suppressing effect can be reliably exhibited.

  The plurality of sensors are arranged at a position where the phase difference of the m-th order complex eigenmode vector component at the candidate position of each sensor is within a setting range, and the setting range of the phase difference is at the candidate position of each sensor. A range determined by two threshold straight lines parallel to the approximate straight line when the complex eigenmode vector component is plotted on the complex plane may be used. Thereby, since the candidate position of a sensor with a large phase difference is reliably excluded, the vibration suppression effect can be exhibited.

  In this case, the setting range of the phase difference may be a range between the two threshold straight lines and excluding the central range including the origin. Thereby, sensor candidate positions near the origin on the complex plane are excluded. As described above, since the amplitude is small in the vicinity of the origin, a sufficient vibration suppression effect cannot be obtained even if control is performed using the sensor detection value at the position. Therefore, by determining the position of the sensor from the range excluding the candidate sensor position in the vicinity of the origin, the vibration suppressing effect can be surely exhibited.

  In addition, the approximate straight line is a straight line that passes through the origin on the complex plane and has an inclination of the phase average value of the complex eigenmode vector component at each sensor candidate position, or the minimum at each sensor candidate position on the complex plane. A straight line having an inclination obtained by the square method and passing through the origin may be used. Thereby, an approximate straight line can be obtained reliably.

(Method for determining the arrangement of active vibration control devices)
The active vibration damping device arrangement determination method according to this means is an active vibration damping device that suppresses out-of-plane vibration of a face material by driving a vibration damping actuator based on detection values detected by a plurality of sensors. An apparatus arrangement determination method, comprising: a phase difference of m-th order complex eigenmode vector components at candidate positions on the face material of the plurality of sensors; and an mth order at candidate positions on the face material of the plurality of sensors. A sensor arrangement determining step of determining the positions of the plurality of sensors based on the orthogonality evaluation value of the complex eigenmode vector;

  As in the case of the above active vibration control device, the vibration control actuators are controlled based on the detection values of a small number of sensors in the face material having a complex eigenmode, thereby reliably suppressing the out-of-plane vibration of the face material. can do.

  Further, based on the phase difference between the phase of the m-th order complex eigenmode vector component at the candidate position on the face material of the vibration control actuator and the phase of the m-th order complex eigenmode vector component at each position of the plurality of sensors, You may make it provide the actuator arrangement | positioning determination process which determines the position of the said damping actuator. In this way, by arranging the vibration damping actuator in consideration of the phase difference of the intrinsic modal response between the vibration damping actuator and the sensor, the phase difference between the two intrinsic modal responses can be reduced. As a result, the out-of-plane vibration of the face material can be reliably suppressed.

It is a figure explaining the outline | summary of the active type damping device of this embodiment. It is a figure which shows the concept of the modal filtering process in the control apparatus of this embodiment. It is a flowchart which shows a sensor arrangement | positioning determination process. It is a figure which shows the example of the sensor position in S1 of FIG. FIG. 4 is a complex plan view showing components (amplitude B, phase θ) of a complex eigenmode vector X in S1 of FIG. It is the figure plotted on the complex plane for every mode order in S2 of FIG. FIG. 4 is a diagram obtained by rotating each position in S <b> 4 of FIG. 3 by −Φ on the complex plane of the first-order mode. It is a figure which shows the range (hatching) between the two threshold lines of the primary mode in S5 of FIG. 3 on the complex plane of the primary mode. The positions extracted by the process of S5 are indicated by black circles. It is a figure which shows the range (hatch) between the two threshold lines of the secondary mode in S5 of FIG. 3 on the complex plane of the secondary mode. The positions extracted by the process of S5 are indicated by black circles. It is the figure which extracted the position common to all the mode orders in S6 of FIG. 3 on the complex plane of a primary mode. The positions extracted by the process of S6 are indicated by black circles. It is the figure which extracted the position common to all the orders in S7 of FIG. 3 on the complex plane of a primary mode. The positions extracted by the process of S7 are indicated by black circles. It is a flowchart which shows a damping actuator arrangement | positioning determination process. It is a figure which shows the position of the damping actuator in S11 of FIG. 11 on the complex plane of a primary mode. It is a figure which shows the position of the several sensor and damping actuator which were determined by the process of FIG. 3 and FIG. It is a figure which shows the other example of the range extracted by the threshold value straight line in S5 of FIG. The positions extracted by the processing are indicated by black circles.

(Outline of active vibration control device)
With reference to FIG. 1, an outline of the active vibration damping device will be described. Here, the active vibration damping device is a device for suppressing out-of-plane vibration of a face material such as a flooring of a building, for example. For example, as shown in FIG. 1, the present invention is applied to a flooring 10 such as lightweight cellular concrete (ALC). And the said apparatus was detected by the vibration suppression actuator 20 arrange | positioned at the flooring 10, the several sensors 31-35 which are each arrange | positioned at the flooring 10, and detect an out-of-plane vibration, and the several sensors 31-35. And a control device 40 that controls the vibration control actuator 20 based on the detected value. That is, the control device 40 performs feedback control of the vibration damping actuator 20.

(Concept of modal filtering)
Next, the flooring 10 has a plurality of orders of vibration modes at each position. In the present embodiment, the active vibration damping device suppresses vibrations of a plurality of mode orders of the flooring 10. Here, vibrations in the first to fifth modes are suppressed.

  Therefore, the control device 40 performs a modal filtering process on the detection values of the sensors 31 to 35 to calculate a control force to the vibration damping actuator 20. The concept of modal filtering will be described with reference to FIG.

  Assume that the displacement speed of the flooring 10 at the position of the vibration damping actuator 20 is as shown in FIG. 2A based on the detection values of the sensors 31 to 35. This speed behavior is mode-decomposed and decomposed for each mode order. Here, as shown in FIG. 2B, velocity components in the first to fifth modes are extracted. Based on the behavior of the speed component of each mode order, as shown in FIG. 2C, a control force that reduces the modal response of each mode order is calculated. Then, as shown in FIG. 2D, the control force output by the vibration damping actuator 20 is obtained by synthesizing the control force of each mode order.

(Sensor placement determination process)
Next, processing for determining the arrangement of the plurality of sensors 31 to 35 will be described with reference to FIGS. 3 to 11 and 14. By this processing, the plurality of sensors 31 to 35 can detect the phase difference of the components of the complex eigenmode vector at the positions of the respective sensors 31 to 35 and the plurality of mode orders at the positions of the respective sensors 31 to 35. Are arranged at positions determined based on the orthogonality evaluation value MAC for all combinations of two selected from the complex eigenmode vectors. That is, the arrangement positions of the plurality of sensors 31 to 35 are determined in consideration of the phase differences and orthogonality evaluation values MAC for the plurality of mode orders. Details will be described below.

  The component (amplitude B, phase θ) of the complex eigenmode vector X of each mode order at each sensor candidate position P is calculated (S1 in FIG. 3). Here, as shown in FIG. 4, a large number of candidate positions (here, 55 locations) on the flooring 10 are set as Pj (j = 1 to n) (n = 55). These sensor candidate positions P1 to P55 are positions where the sensors 31 to 35 can be arranged. In FIG. 4, the sensor candidate positions P1 to P55 are the nodes when the flooring 10 is divided into quadrilateral elements, but may be triangular elements or divided into other shape elements. Also good.

And the general solution of displacement u _j (t) in candidate position Pj on flooring 10 of sensors 31-35 is expressed by a formula (1). That is, the displacement u _j (t) at each sensor candidate position Pj is the sum of the displacements of each mode order m, as shown in Equation (1), and the displacement of each mode order m is unique to the corresponding mode order m. _Represented by the mode vector Xm.

In general, the attenuation of the flooring 10 is often not proportional to attenuation such as Rayleigh attenuation but often becomes non-proportional. At this time, the m-th eigenmode vector X _{mj at} the sensor candidate position Pj (j = 1, 2,..., 55) is a complex eigenmode vector in which each component is a complex number having a different declination. . Therefore, the component of the m-th order eigenmode vector X _mj at each sensor candidate position Pj is expressed as in Expression (2). The phase θ _mj differs depending on the sensor candidate position Pj.

The amplitude B _mj and phase θ _mj in equation (2) will be described using the complex plane shown in FIG. As shown in FIG. 5, in the complex plane, the amplitude B _mj components of the complex eigenmodes vector X _mj is expressed as the distance from the origin, the phase theta _mj is counterclockwise from the positive axis of real number Re Expressed as an angle. That is, when the component of the complex eigenmode vector X _mj is decomposed into a real number and an imaginary number, Expression (3) is obtained.

That is, in S1 of FIG. 3, the vibration behavior at each candidate position Pj is mode-decomposed for each mode order m, whereby the amplitude B _mj and the phase θ _mj of the component of the complex eigenmode vector X _mj at each candidate position Pj are obtained. Can be calculated. Here, when calculating each component B _mj , θ _mj , the vibration behavior of each candidate position Pj can be obtained by analysis or can be obtained as an identification value by experiment.

Subsequently, as shown in FIG. 6, the position of the component of the complex eigenmode vector X _mj of each candidate position Pj is plotted on the complex plane for each mode order m of the vibration mode (S2 in FIG. 3). Here, since the first to fifth vibration modes are processed, five complex planes are formed. Then, 55 points are plotted on each complex plane. However, in the figure, the number of points is different for ease of explanation.

Subsequently, an average value Φ _m of the phases θ _mj of all candidate positions Pj (j = 1 to 55) is calculated for each mode order m. The phase average value Φ _m is calculated by the equation (4). That is, the phase average value Φ _m is similar to the slope when an average straight line that approximates the point group passing through the origin is obtained by the least square method. This phase average value Φ _m is shown in FIG. Moreover, in FIG. 6, the approximate straight line of points P1-P55 is shown as a continuous line.

Subsequently, as shown in FIG. 7, for each mode order m, on each complex position, for each candidate position Pj, a rotational coordinate transformation of an angle −Φ _m centered on the origin is performed (S4 in FIG. 3). As a result, the approximate straight line of the point Pj (j = 1 to 55) on the complex plane coincides with the real axis. This process is performed to facilitate the subsequent process.

Subsequently, a position P where the phase difference is within the set range Y is extracted from the candidate positions Pj on the complex plane (S5 in FIG. 3). Specifically, a plurality of candidate positions P within a range Y between preset threshold straight lines Th _ma and Th _mb are extracted from the positions Pj. This means that although the components of the complex eigenmode vector X _mj have a phase difference with each other as described above, a plurality of candidate positions P from which the phase difference can be ignored are extracted.

By doing so, the plurality of extracted candidate positions P appear to be in a real mode, and a modal filtering process can be applied. Here, the threshold straight lines Th _ma and Th _mb are straight lines having different inclinations (± ψ _m ) with respect to the real axis, as shown in FIG. That is, the range Y is a range including at least a part of the real axis. Specifically, the threshold straight lines Th _ma and Th _mb are expressed by Expression (5).

A candidate position P included in the phase difference setting range Y (hatching in FIG. 8) is a candidate position P having a phase θ _mj that satisfies Expression (6). That is, the candidate position P that is the phase θ _mj that satisfies Expression (6) is a position that has a small phase difference and is far from the origin. In other words, by extracting candidate positions P included in the setting range Y, sensor candidate positions P near the origin are excluded in addition to sensor candidate positions P having a large phase difference between them. .

  Thus, by extracting the candidate position P with a small phase difference, it can be treated as an actual mode apparently. In addition, the vicinity of the origin on the complex plane is near the node of the vibration mode shape, and the amplitude of the mode vibration becomes small, so that it is easily affected by various noises, so that the vibration suppression effect may not be obtained. . However, since the sensor candidate position P in the vicinity of the origin is eliminated by the above processing, the amplitude of the vibration modal response is increased, and thus it is hardly affected by noise.

Although FIG. 8 shows the primary mode (m = 1), the same processing is performed for other order modes. For example, the secondary mode (m = 2) is as shown in FIG. Here, the candidate position P included in the phase difference setting range Y in the primary mode is different from the candidate position P included in the phase difference setting range Y in the secondary mode. As described above, the position P included in the phase difference setting range Y is different in each mode order m. Note that the slopes (± ψ _m ) of the straight line thresholds Th _ma and Th _mb may be different values for each mode order m, or may be the same value.

  Subsequently, a common candidate position P is extracted in all mode orders (m = 1 to 5) (S6 in FIG. 3). The extracted candidate position P becomes a candidate position P indicated by a black circle in FIG. The candidate positions P extracted at this point have a relationship that the phase differences are small and far from the origin in all the first to fifth orders.

Subsequently, five candidate positions P are extracted from the candidate positions P extracted in S6 using the orthogonality evaluation value (S7 in FIG. 3). Here, in order to apply the modal filtering process, mode vectors X _p1 , X _p2 ,..., X _p5 created from components corresponding to the five extracted candidate positions P are considered. It is desirable that one is not close to the primary dependency with the other four, and is as close to orthogonal as possible.

Therefore, a mode reliability evaluation criterion MAC (Modal Assurance Criterion) is used as the orthogonality evaluation value for this determination. The orthogonality evaluation value MAC is an index indicating the correlation between the mode vectors Xa and Xb, and is defined by Expression (7). In the formula (7), X _pa, the definition of X _pb, X _pa, the definition of the inner product of _{X pb (X pa · X pb} ), and, ‖X _pa ‖ ^2, the definition of ‖X _pb ‖ ^2, the formula ( It is as shown in 8).

The closer the value of MAC (X _pa , X _pb ) is to 1, the closer the two mode vectors X _pa , X _pb are, and the closer to 0, the closer to orthogonal. That is, finding a set of mode vectors X _p1 ,..., X _p5 that are nearly orthogonal to each other means that for all combinations where a ≠ b of the a-order mode and b-order mode, MAC (X _pa , This corresponds to extracting a candidate position P of the sensor whose value of X _pb ) is close to zero.

  Therefore, a combination of five positions P is created from the candidate positions P extracted in S6 of FIG. Then, for each of the five candidate positions P of the combination, the value of the evaluation function J shown in the equation (9) is calculated, and the candidate position P of the combination having the minimum evaluation function J is extracted.

  The candidate positions P thus extracted are the five candidate positions P12, P27, P29, P41, and P45 shown in FIG. Then, as illustrated in FIG. 14, the arrangement positions of the sensors 31 to 35 are determined as the extracted candidate positions P12, P27, P29, P41, and P45. These positions P12, P27, P29, P41, and P45 have a relationship that the phase difference is small and far from the origin in all of the first to fifth orders, and the eigenmode vectors are close to orthogonal to each other. Therefore, modal filtering processing can be performed using the detection values detected by the sensors 31 to 35 arranged at these positions P12, P27, P29, P41, and P45, and it is difficult to be affected by noise. Vibration can be detected.

(Damping actuator placement determination process)
Next, processing for determining the arrangement of the vibration damping actuator 20 will be described with reference to FIGS. With this process, the vibration damping actuator 20 causes the phase θ _mj of the component of the m-th order complex eigenmode vector X _mj at the five extracted sensor candidate positions Pj and the candidate position of the vibration damping actuator 20 on the floor 10. is disposed to the position determined based on the phase difference between the m-th complex eigenmode vector X _m components of the phase of _{(ACT) θ m (ACT)} in P _ACT. Details will be described below.

As the position of the damping actuator 20, a position P _Act that is close to the phase average value Φ _m at each mode order m at each position of the sensors 31 to 35 and is far from the origin on the complex plane is acquired (S11 in FIG. 12). . This position P _Act uses the component (B _mj , θ _mj ) of the complex eigenmode vector X _mj of each candidate position Pj (j = 1 to 55) of the flooring 10 calculated in the sensor placement determination process described above.

In FIG. 13, the components of the complex eigenmode vector X _mj at each position Pj of the flooring 10 are plotted on the complex plane. The position of the vibration damping actuator 20 is best at the position PA1. The reason for this will be described.

  When a phase difference occurs in the eigenmode vector component between the positions P12, P27, P29, P41, and P45 of the sensors 31 to 35 and the position of the vibration damping actuator 20, the control force calculated from the detection values of the sensors 31 to 35 Is output to the vibration control actuator 20, a phase difference is generated between the control force and the modal response vibration at the excitation point.

Here, in the vibration mode having the natural frequency ω, if the phase difference of the natural mode vector component between the position P _Act of the damping actuator 20 and the sensor positions P12, P27, P29, P41, and P45 is ζ, the sensor position P12, The speed du _sen / dt at P27, P29, P41, and P45 and the speed du _Act / dt at the position P _Act of the vibration control actuator 20 are expressed as shown in Expression (10).

At this time, for example, when the control force f _Act proportional to the speed is calculated, the equation (11) is obtained.

Here, if the equation (11) is substituted into the equation of motion of vibration at the position P _Act of the vibration control actuator 20, the equation (12) is obtained, and the equation (12) is developed as the equation (13). .

As can be seen from the equation (13), a phase difference is generated between the control force f and the velocity at the position P _Act , and the control effect is lost. As a result, the control effect is impaired. For example, if the vibration damping actuator 20 is arranged at the position PA3 in FIG. 13, the phase difference becomes large and the control effect decreases.

  Further, in a certain vibration mode type node, the amplitude of the mode vibration is small, so even if vibration is applied at that position, the influence on the modal response is small. For this reason, when the vibration control actuator 20 is arranged at a position that becomes a node, vibration suppression control to the vibration mode that becomes the node is not performed. Therefore, in order to perform the vibration suppression control, it is necessary to dispose the vibration control actuator 20 other than the vibration mode type node, and it is particularly desirable that the vibration suppression type 20 be close to the vibration mode type antinode.

Here, the origin on the complex plane is a position that becomes a node of the vibration mode shape. For example, the position PA2 in FIG. 13 is a position that becomes a node of the primary mode shape. Therefore, the position PA2 is not appropriate as the position P _Act of the vibration damping actuator 20.

From the above, as the position P _Act of the vibration damping actuator 20, the position PA1 on the complex plane shown in FIG. 13 is the best. The method of calculating the position, for example, a phase difference between the phase average value [Phi _m in each mode order m is more extracts small candidate position P, or the phase difference is a combination of adjacent positions of the small candidate positions P Extract multiple sets. A candidate position P or a combination having the largest amplitude B is extracted from these.

Subsequently, the arrangement position of the vibration damping actuator 20 is determined based on the extracted candidate position P or the combination of candidate positions P (S12 in FIG. 12). In S11, when a certain candidate position P itself is extracted instead of the combination of the adjacent positions P, the candidate position P is determined as the arrangement position P _Act of the vibration damping actuator 20.

When the combination of the adjacent positions P is extracted in S11, the arrangement position P _Act of the vibration damping actuator 20 is determined based on the combination. For example, if a set of positions P18 and P19 is extracted by the above processing, an intermediate point between the positions P18 and P19 is determined as an arrangement position of the vibration damping actuator 20, as indicated by a position P _{Act in} FIG.

As shown in FIG. 14, the sensors 31 to 35 are arranged at positions P12, P27, P29, P41, and P45, and the vibration control actuator 20 is arranged at the position P _Act. The first to fifth-order mode control force is calculated by performing mode decomposition using the detected value 35, and the vibration control actuator 20 is driven by the control force. Can be suppressed.

The reason for this is as follows. A plurality of sensors 31 to 35, the phase difference between the components of the m-th complex eigenmode vector X _m are arranged in reduced position. Therefore, since the phase difference of the intrinsic modal response between the plurality of sensors 31 to 35 arranged becomes small, it can be handled in the same manner as the actual mode, and modal filtering is performed on the detection values of the plurality of sensors 31 to 35. This is because the processing can be applied.

  Further, as the following reason, the modal filtering process can be applied by arranging the arranged sensors 31 to 35 at positions having orthogonality with each other using the orthogonality evaluation value MAC. Because it becomes. Therefore, in the flooring 10 having the complex eigenmode vector X, the out-of-plane vibration of the flooring 10 can be reliably suppressed by controlling the vibration damping actuator 20 based on the detection values of the small number of sensors 31 to 35. it can. If the eigenmode vector X at the positions of the plurality of sensors 31 to 35 is close to the primary dependency, the modal filtering process cannot be applied.

  Furthermore, processing for a plurality of mode orders m is performed by modal filtering processing. In particular, as the arrangement positions of the sensors 31 to 35, candidate positions P that can exhibit a vibration suppressing effect for all the plurality of mode orders m are extracted. Therefore, the vibration suppressing effect can be exhibited with respect to the vibration modes of a plurality of mode orders (1 to 5 in the above).

<Others>
In the above embodiment, the threshold straight lines Th _ma and Th _mb are straight lines that pass through the origin and have an inclination of ± ψ _m from the real axis. In addition, a threshold straight line as shown in FIG. 15 may be used. That is, as shown in FIG. 15, the setting range of the phase difference, with respect to the reference straight line (approximate straight line) La having a slope of the street phase average origin [Phi _m in the complex plane, set in both positive and negative directions distance away Two parallel straight lines L1 and L2 are set.

  Then, the phase difference setting range is set to a range between these straight lines L1 and L2 excluding the central range including the origin. This range is indicated by hatching in FIG. By setting the setting range between the straight lines L1 and L2, the candidate position P having a large phase difference is reliably eliminated, so that the vibration suppressing effect can be exhibited.

  Further, by setting the phase difference setting range as a range excluding the central range including the origin, the candidate position P near the origin on the complex plane is excluded. As described above, since the amplitude near the origin is small, even if it is controlled using the sensor detection value at the candidate position P, a sufficient vibration suppressing effect cannot be obtained. Therefore, by determining the arrangement positions of the sensors 31 to 35 from the range excluding the candidate position P in the vicinity of the origin, the vibration suppressing effect can be surely exhibited.

In addition, the reference straight line (approximate straight line) La passes through the origin on the complex plane and represents the phase average value Φ _m of the components of the complex eigenmode vector X _mj at the candidate positions Pj (j = 1 to 55) of the sensors 31 to 35. Although it is a straight line as an inclination, it may be a straight line having an inclination obtained by the least square method at the candidate position Pj of each sensor 31 to 35 on the complex plane and passing through the origin. In this case, the same effect can be obtained.

In order to facilitate the processing, as shown in FIG. 7, on the complex plane, the rotation coordinate transformation of the angle −Φ _m centered on the origin is performed for each candidate position Pj. However, the threshold straight lines Th _ma and Th _mb can also be set without performing rotational coordinate conversion.

10: Floor material (face material), 20: Vibration control actuator, 31-35: Sensor, 40: Control device

Claims (9)

An active vibration damping device that suppresses out-of-plane vibration of a face material,
A damping actuator disposed on the face material;
A plurality of sensors each disposed on the face material and detecting the out-of-plane vibration;
A control device for controlling the vibration damping actuator based on detection values detected by the plurality of sensors;
With
The plurality of sensors includes a phase difference of m-th order complex eigenmode vector components (m is an integer of 1 or more) at each sensor candidate position, and orthogonality evaluation of m-th order complex eigenmode vectors at each sensor candidate position. An active vibration damping device arranged at a position determined based on a value.   The vibration control actuator is configured such that a phase of an m-th order complex eigenmode vector component at a candidate position on the face material of the vibration suppression actuator and a phase of an m-th order complex eigenmode vector component at each candidate position of the plurality of sensors. The active vibration damping device according to claim 1, wherein the active vibration damping device is disposed at a position determined based on a phase difference.   The active vibration damping device according to claim 1, wherein the m-th order is a plurality of mode orders. The plurality of sensors are arranged at positions where the phase difference of the m-th order complex eigenmode vector component at the candidate position of each sensor is within the setting range,
The active type vibration damping device according to any one of claims 1 to 3, wherein the phase difference setting range is a range determined by two threshold lines having different inclinations through an origin on a complex plane. The plurality of sensors are arranged at positions where the phase difference of the m-th order complex eigenmode vector component at the candidate position of each sensor is within the setting range,
The range of setting of the phase difference is a range determined by two threshold lines parallel to an approximate line when a complex eigenmode vector at each candidate position of the sensor is plotted on a complex plane. The active vibration control device according to any one of to 3.   6. The active vibration damping device according to claim 5, wherein the phase difference setting range is a range between the two threshold straight lines and excluding a central range including an origin.   The approximate line is a straight line that passes through the origin on the complex plane and has an inclination of the phase average value of the complex eigenmode vector component at each sensor candidate position, or the least square method at each sensor candidate position on the complex plane. The active vibration damping device according to claim 5 or 6, wherein the vibration damping device is a straight line having an inclination obtained by the equation (1) and passing through the origin. An active vibration damping device arrangement determination method for driving a vibration damping actuator based on detection values detected by a plurality of sensors and suppressing out-of-plane vibration of a face material,
The phase difference of the m-th order complex eigenmode vector component (m is an integer of 1 or more) at the candidate position on the face material of the plurality of sensors, and the m-th order complex at the candidate position on the face material of the plurality of sensors. An active vibration damping device placement determination method comprising a sensor placement determination step of determining the positions of the plurality of sensors based on orthogonality evaluation values of eigenmode vectors. Based on the phase difference between the phase of the m-th order complex eigenmode vector component at the candidate position on the face material of the vibration control actuator and the phase of the m-th order complex eigenmode vector component at each position of the plurality of sensors. 9. The active vibration damping device arrangement determining method according to claim 8, further comprising an actuator arrangement determining step of determining a position of the vibration actuator.

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