JP7703157B2 - Seismic isolation system, vibration adjustment device, and method for producing a program for the seismic isolation system - Google Patents

Description

This disclosure relates to a seismic isolation system, a vibration adjustment device, and a method for producing a program for the seismic isolation system. Note that the seismic isolation system is not limited to a system for reducing vibration caused by earthquake motion. However, for convenience, the commonly used term "seismic isolation system" is used. The vibration adjustment device is included in the seismic isolation system and is a device that adjusts at least one of the restoring force and the damping force (damping resistance). The program for the seismic isolation system is for controlling the drive unit of the vibration adjustment device.

Seismic isolation systems are known that allow the seismic isolation object to be displaced horizontally relative to the support structure that supports the seismic isolation object (for example, Patent Documents 1 and 2). Such seismic isolation systems can reduce the acceleration applied to the seismic isolation object when an earthquake occurs. However, on the other hand, if the relative displacement of the seismic isolation object becomes excessive, problems such as collisions between the seismic isolation object and the surrounding structures can occur.

Patent Documents 1 and 2 propose a mechanism for generating a restoring force in which the spring constant of the restoring force acting on the seismically isolated object becomes substantially smaller as the relative displacement of the seismically isolated object becomes larger. If such a mechanism is provided, then in the event of a long-period earthquake motion, the natural period of the seismically isolated object is relatively short when the object is located near its initial position, and therefore resonance of the object is avoided, thereby reducing the likelihood of excessive relative displacement. In addition, in the event of a short-period earthquake motion, the natural period becomes relatively long when the object moves away from its initial position, and therefore resonance of the object is avoided, thereby reducing the likelihood of excessive acceleration.

Patent Document 1 discloses that the change in spring constant may be achieved by either active control or passive control. It also discloses that a link mechanism may be used in the case of passive control. In Patent Document 2, the change in spring constant is achieved by a mechanism that transmits vibrations of the seismically isolated object to the elastic member, which is configured by combining a link and a slider. Patent Document 3 discloses that an elastic mechanism that utilizes unbalanced forces may be used for vertical seismic isolation. The contents of Patent Documents 1 to 3 may be incorporation by reference in this application.

JP 2019-163799 A JP 2020-085079 A International Publication No. WO 2017/043230

Patent Document 1 discloses that the spring constant is changed by active control, but does not disclose the specific configuration. Therefore, it is expected that a seismic isolation system, a vibration adjustment device, and a program for a seismic isolation system will be provided that can suitably and actively control at least one of the restoring force and the damping force.

A seismic isolation system according to one aspect of the present disclosure includes an isolator that supports a seismic isolation body, which is one of a first object and a second object, so that the isolation body can move in at least a first movement direction relative to a support body, which is the other of the first object and the second object; a first passive element that generates a first force acting on the first object and the second object in a first force direction, which is at least one of a restoring force and a damping force in the relative movement between the first object and the second object in the first movement direction; a first drive unit that generates a drive force by moving a first action position at which the first passive element applies the first force to the first object relative to the first object, thereby changing the inclination angle of the first force direction with respect to the first movement direction; and a control unit that controls the first drive unit.

A vibration control device according to one aspect of the present disclosure includes a passive element that generates a first force acting on the first object and the second object in a force direction, the first force being at least one of a restoring force and a damping force in the relative movement in the movement direction between the first object and the second object; a drive unit that moves the position of action at which the passive element acts on the first object relative to the first object to generate a drive force that changes the inclination angle of the force direction with respect to the movement direction; and a control unit that controls the drive unit.

A method for producing a program for a seismic isolation system according to one aspect of the present disclosure is a method for producing a program used in the seismic isolation system, which creates a program for a trained agent by reinforcement learning for control of the first drive unit based on vibration information in the first moving direction of the seismic isolation body, and the reward in the reinforcement learning is higher the smaller the absolute value of the relative displacement of the seismic isolation body with respect to the support body, and is higher the smaller the absolute value of the absolute acceleration of the seismic isolation body.

The above configuration allows for optimal active control of at least one of the restoring force and the damping force.

1(a) and 1(b) are schematic diagrams for explaining the main points of a seismic isolation system according to an embodiment. FIG. 1 is a perspective view showing an overview of a seismic isolation system according to a first embodiment. 3 is a perspective view showing the configuration of a vibration control device provided in the seismic isolation system of FIG. 2 . FIG. 4 is a plan view showing the configuration of the vibration control device of FIG. 3 . FIG. 4 is a conceptual diagram showing a configuration of an agent included in a control unit of the vibration adjustment device of FIG. 3 . FIG. 6 is a schematic diagram showing an example of a reward in reinforcement learning of the agent in FIG. 5 . 7( a ) and 7 ( b ) are schematic diagrams showing other examples of rewards in reinforcement learning of the agent in FIG. 5 . FIG. 11 is a plan view showing a seismic isolation system according to a second embodiment. FIG. 13 is a plan view showing a seismic isolation system according to a third embodiment. FIG. 13 is a plan view showing a seismic isolation system according to a fourth embodiment. FIG. 13 is a perspective view showing a seismic isolation system according to a fifth embodiment.

Embodiments of the present disclosure will be described below with reference to the drawings. The drawings used in the following description are schematic. Therefore, for example, the dimensional ratios in the drawings do not necessarily match those in reality. The dimensional ratios may not match between drawings. Certain shapes or dimensions may be shown exaggerated.

For embodiments that are described relatively later among the multiple embodiments, essentially only the differences from the previously described embodiments will be described. Matters that are not specifically mentioned may be the same as the previously described embodiments or may be inferred from the previously described embodiments. Corresponding components between the embodiments may be given the same reference numerals even if there are differences.

As will be described later, the element that generates the restoring force (referred to as the "restoring element") is not limited to a spring. However, for convenience, the rate of change of the restoring force with respect to the displacement (corresponding to the extension of the spring) is referred to as the "spring constant." In addition, a restoring force that resists tension is sometimes called a "tensile force," and a restoring force that resists compression is sometimes called a "compressive force." In the following explanation, "orthogonal" includes the position of twist, unless a contradiction arises.

Below, we will first briefly describe the main points (abstract concept) of the seismic isolation system according to the embodiment. After that, we will describe various more specific embodiments (first to fifth embodiments).

<Key points of the seismic isolation system according to the embodiment>
(Configuration of seismic isolation system)
1(a) and 1(b) are schematic diagrams for explaining the main points of a seismic isolation system according to an embodiment. Fig. 1(a) and Fig. 1(b) show different states of the same seismic isolation system 1. In these figures, a Cartesian coordinate system D1-D2-D3 is provided.

The illustrated seismic isolation system 1 has an isolator 7 (seismic isolation bearing) that supports a seismic isolation object 5 so as to be movable in the D1 direction relative to a support structure 3. The seismic isolation system 1 also has a passive element 9 that is connected to the seismic isolation object 5 and the support structure 3. The passive element 9 generates a restoring force and/or a damping force with respect to vibration of the seismic isolation object 5 in the D1 direction. Here, the restoring force is taken as an example.

The direction in which the restoring force (F1 or F2) occurs is, for example, the direction connecting the connection position P1 of the passive element 9 to the support structure 3 and the connection position P2 of the passive element 9 to the seismic isolation object 5 (hereinafter referred to as the "force direction Df"). Note that the force direction Df can also be considered as the direction in which the restoring force acts. The connection positions P1 and P2 can also be considered as the positions at which the force acts. Below, the symbols P1 and P2 may be added to the term "positions of action."

The force direction Df is inclined at a predetermined inclination angle θ (see FIG. 4 for symbols; here, θ1 or θ2) with respect to the vibration direction (D1 direction) of the seismically isolated object 5. The restoring force (F1 or F2) of the force direction Df can be considered as being divided into a component force (F1x or F2x) parallel to the D1 direction and a component force (F1y or F2y) perpendicular to the D1 direction. The component force (F1x or F2x) parallel to the D1 direction acts as a restoring force for vibration in the D1 direction.

At least one of the connecting positions P1 and P2 (here, the latter is taken as an example) moves due to the driving force from the drive unit 11. The direction of this movement is a direction (D2 direction in the illustrated example) that intersects (e.g., perpendicular to) the vibration direction (D1 direction) of the seismically isolated object 5. From another perspective, the direction of movement of the connecting position P2 is a direction that intersects with the force direction Df. Therefore, when the connecting position P2 moves, the inclination angle θ of the force direction Df with respect to the D1 direction changes. Figures 1(a) and 1(b) show states in which the inclination angles are different from each other.

By changing the inclination angle θ, the magnitude of the component force (F1x or F2x) acting as a restoring force for the vibration of the seismically isolated object 5 in the D1 direction changes. In other words, the proportion (cos θ) of the component force (F1x or F2x) acting as a restoring force for the vibration of the seismically isolated object 5 out of the restoring force (F1 or F2) in the force direction Df changes. This effectively changes the spring constant of the vibration of the seismically isolated object 5 in the D1 direction, and ultimately changes the natural period of the vibration.

As described above, the seismic isolation system 1 according to the embodiment changes the inclination angle θ of the passive element 9 (or, from another perspective, the force direction Df) by active control, thereby adjusting the restoring force (or, from another perspective, the spring constant). Although the restoring force is used as an example, the same applies to the damping force (or, from another perspective, the damping coefficient, etc.).

(Effects of seismic isolation systems)
By actively controlling the inclination angle θ of the passive element 9, various effects can be obtained, for example as follows.

As a comparative example to this embodiment, for example, a passive element 9 is provided so that the force direction Df is parallel to the vibration direction (direction D1) of the seismic isolation object 5, and the connection position P1 or P2 of the passive element 9 is moved in the direction D1 by the drive unit 11.

Compared to the comparative example above, the present embodiment provides greater freedom in designing the passive element 9 that generates a restoring force. An extreme example will be given for ease of understanding. In the present embodiment, even if the passive element 9 generates a restoring force, the restoring force (F1x or F2x) related to vibration in the D1 direction can be set to 0 by setting the inclination angle θ to 90°. On the other hand, in the comparative example above, such adjustment is not possible. Due to this difference, the present embodiment provides greater freedom in designing the passive element 9.

In addition, in this embodiment, for example, it is possible to increase the substantial change in the spring constant in the D1 direction relative to the change in the position of the connection position P2 (and/or P1). Specifically, for example, this is as follows.

First, the inclination angle θ1 in FIG. 1(a) is smaller than the inclination angle θ2 in FIG. 1(b), so the proportion (cos θ) of the component force in the D1 direction (F1x or F2x) in the force direction Df is larger in FIG. 1(a) than in FIG. 1(b). In other words, when only the inclination angle θ is considered, the spring constant in FIG. 1(a) is larger than that in FIG. 1(b).

In the illustrated example, it is assumed that the passive element 9 is a spring in a compressed state in both Fig. 1(a) and Fig. 1(b). In this case, since the distance between the connection positions P1 and P2 in Fig. 1(a) is shorter than the distance between the connection positions P1 and P2 in Fig. 1(b), the restoring force F1 in Fig. 1(a) is greater than the restoring force F2 in Fig. 1(b). Therefore, if the effect of the tilt angle θ is not taken into consideration, the spring constant in the D1 direction is substantially greater in Fig. 1(a) than in Fig. 1(b).

Therefore, the substantial change in the spring constant in the D1 direction due to the change in the distance between connecting positions P1 and P2 (change in the restoring force in force direction Df) and the substantial change in the spring constant in the D1 direction due to the change in the inclination angle θ are added together. This makes it possible to increase the substantial change in the spring constant in the D1 direction relative to the change in the position of connecting position P2. As a result, for example, it is possible to increase the range in which the natural period can change relative to the movable range of connecting position P2. From another perspective, the seismic isolation system 1 can be made smaller by reducing the movable range of connecting position P2.

Conversely, the actual change in the spring constant in the D1 direction relative to the change in the position of the connection position P2 (and/or P1) may be reduced.

For example, contrary to the above assumption, in the illustrated example, the passive element 9 may be a spring in tension in both FIG. 1(a) and FIG. 1(b). In this case, for example, when transitioning from the state of FIG. 1(a) to the state of FIG. 1(b), an increase in the restoring force occurs due to an increase in the distance between the connecting positions P1 and P2, and a decrease in the restoring force occurs due to an increase in the tilt angle θ. In other words, the change in the spring constant due to the change in distance and the change in the spring constant due to the change in the tilt angle are at least partially offset each other. In such an embodiment, for example, the amount of change in the spring constant relative to the amount of movement of the connecting position P2 is reduced, so that the effect of the control error of the drive unit 11 on the control error of the spring constant can be reduced.

The above two aspects may also be combined. For example, the passive element 9 may generate a compressive force in FIG. 1(a) and a tensile force in FIG. 1(b).

Although the case where the passive element 9 generates a restoring force has been described, when the passive element 9 generates a damping force, for example, active control is facilitated. Specifically, for example, it is as follows.

Assuming that the passive element 9 that generates a damping force is a typical oil damper that generates a damping force proportional to the relative speed of the connection positions P1 and P2, regardless of the distance between the connection positions P1 and P2. In this case, in the comparative example described above, in order to change the damping coefficient by moving the connection position P2, the speed of the connection position P2 is controlled. Then, when control is performed to obtain a desired speed (or, from another perspective, a desired damping coefficient) according to the vibration state of the seismically isolated object 5, the amount of movement of the connection position P2, which is the integral value of the speed, does not necessarily fall within the stroke of the oil damper. In other words, control is difficult.

On the other hand, in this embodiment, the damping coefficient in the D1 direction is the damping coefficient of the oil damper itself multiplied by cosθ, just like the spring constant in the D1 direction. The actual change in the damping coefficient in the D1 direction is achieved by changing the inclination angle θ by moving the connection position P2 (and/or P1). In other words, the damping coefficient is essentially adjusted by controlling the position of the connection position P2. Therefore, the inconveniences that arise in the comparative example described above do not occur.

First Embodiment
Fig. 2 is a schematic perspective view showing an overview of the seismic isolation system 1A according to the first embodiment. In this figure, an orthogonal coordinate system xyz is provided. The xy plane is, for example, a horizontal plane. In the following, unless otherwise specified, the explanation may be given on the assumption that the xy plane is horizontal. Fig. 2 shows a state in which a seismic isolation member 23, which will be described later, has been removed.

Similar to the conceptually illustrated seismic isolation system 1, the seismic isolation system 1A controls the inclination angle θ of the passive element 9 (not shown in FIG. 2). Except for this, the configuration of the seismic isolation system 1A may take various forms, for example, a publicly known form. In the following, explanations of configurations that may take a publicly known form may be omitted as appropriate.

The seismic isolation system 1A has, for example, the following components: An isolator 7A as a specific example of an isolator 7. A vibration adjustment device 31 including a passive element 9 and a drive unit 11 shown in FIG. 1(a) (see FIG. 3 for symbols).

The seismic isolation system 1A may have various components other than those described above. For example, although not specifically shown, the seismic isolation system 1A may have a restoring element that generates a restoring force and/or a damping element that generates a damping force, separate from the vibration control device 31. Such a restoring element and/or damping element may be, for example, an inseparable part of the isolator 7A, or may be separate from the isolator 7A. In the former case, the restoring element and/or damping element are, in other words, conceptualized as components of the restoring function and/or damping function of the isolator 7A. In both the former and latter cases, the restoring element and/or damping element not shown may be regarded as part of the vibration control device 31 (or may be regarded simply as a matter of the definition of the vibration control device).

The following description of the first embodiment will be made roughly in the following order.
Support structure 3, seismic isolation object 5, and isolator 7 (7A)
・Vibration adjustment device 31
Control of the seismic isolation system 1A Summary of the first embodiment More specifically, the control of the seismic isolation system 1A is the control when the coupling position P2 is moved by the drive unit 11.

(Support structures, seismic isolation objects and isolators)
The specific combination of the seismic isolation object 5 and the support structure 3 shown in FIG. 1(a) and FIG. 1(b) is arbitrary. For example, the combination of the seismic isolation object 5 and the support structure 3 may be a combination of a building (such as a house) and a foundation part supporting the building, or a combination of fixtures and a building supporting the fixtures. In particular, among objects supported by a building, objects that are preferably seismically isolated include, for example, artworks and computer equipment (servers). In addition, the seismic isolation object 5 arranged on the upper floors or rooftop of a building is likely to vibrate with a large acceleration and/or displacement due to the resonance of the building, so it is preferable that it is seismically isolated and that the displacement is suppressed. As can be understood from the above example, the size of the object to which the seismic isolation system according to the embodiment is applied is arbitrary.

In the seismic isolation system 1 (1A), the direction of movement of the seismic isolation object 5 relative to the support structure 3 may be either horizontal or vertical, or may be both. Furthermore, when the above-mentioned direction of movement is horizontal, the seismic isolation system 1 (isolator 7A) may allow the movement of the seismic isolation object 5 in one horizontal direction, or may allow the movement of the seismic isolation object 5 in any horizontal direction. In this embodiment, an example is taken of a configuration in which the movement of the seismic isolation object 5 in any horizontal direction is allowed.

The isolator 7 shown in Fig. 1(a) and Fig. 1(b) is, for example, interposed between the support structure 3 and the seismic isolation object 5. The isolator 7 may have, for example, a known configuration. Known isolators include laminated rubber, rolling bearings, and sliding bearings.

Figure 2 shows an isolator 7A as a specific example of an isolator 7. The isolator 7A has a support member 21 fixed to the support structure 3, and a seismic isolation member 23 fixed to the seismic isolation object 5. The seismic isolation member 23 is supported by the support member 21, and is allowed to move in any direction (any horizontal direction) along the xy plane (e.g., parallel to the xy plane). This allows the seismic isolation object 5 to move in any horizontal direction relative to the support structure 3.

Note that, unlike the description here, the support member 21 may be part of the support structure 3. Similarly, the seismic isolation member 23 may be part of the seismic isolation object 5. From another perspective, the isolator 7 (7A) may not be clearly distinguishable from the support structure 3 and/or the seismic isolation object 5.

The shape, dimensions, and material of the support member 21 and the seismic isolation member 23 are arbitrary. In the illustrated example, they are configured in a roughly plate-like shape, and are rectangular in plan view. The actual shape may be completely different from this shape. However, for the sake of convenience, when explaining the embodiment, the explanation may be given on the assumption that the shape of the support member 21 and the seismic isolation member 23 is a rectangular plate.

The isolator 7A has, for example, an intermediate member 25 interposed between the support member 21 and the seismic isolation member 23. The intermediate member 25 is movable in the X direction relative to the support member 21 by a linear guide 27X extending in the x direction. The seismic isolation member 23 is movable in the y direction relative to the intermediate member 25 by a linear guide 27Y extending in the y direction. This allows the seismic isolation member 23 to move in any horizontal direction relative to the support member 21.

The shape, dimensions, and material of the intermediate member 25 are arbitrary. In the illustrated example, the intermediate member 25 is configured to accommodate the passive element 9, etc., as described below. In addition, the upper and lower surfaces of the intermediate member 25 are formed with openings 29a (see FIG. 3 for the opening 29a on the lower surface) for connecting the passive element 9 to an external member (support member 21 or seismic isolation member 23) of the intermediate member 25.

However, as will be understood from the description below, the passive element 9 can be provided outside the intermediate member 25, or can be connected from inside the intermediate member 25 to a member outside the intermediate member 25 via an opening (not shown) formed on the side of the intermediate member 25. Therefore, the shape of the intermediate member 25 may be a shape that does not have openings 29a on the upper and lower surfaces.

The intermediate member 25 is guided in the x-direction relative to the support member 21 by the linear guide 27X. From another perspective, the movement of the intermediate member 25 in directions other than the x-direction relative to the support member 21 is restricted. However, the vertical movement of the intermediate member 25 may be restricted by gravity and a reaction force, rather than by the linear guide 27X. Although the support member 21, intermediate member 25, and linear guide 27X have been described as examples, the same applies to the intermediate member 25, the seismic isolation member 23, and the linear guide 27Y.

The linear guides 27X and 27Y may have, for example, a rail and a guided member guided by the rail. These members may be part of the support member 21, intermediate member 25, or seismic isolation member 23. A rolling member (e.g., a ball) may or may not be interposed between the rail and the guided member. In the former case, the linear guide may be, for example, an all-ball type or a ball retainer type.

Rails may be provided on either the support member 21 or the intermediate member 25. The same applies to the intermediate member 25 and the seismic isolation member 23. In the illustrated example, the linear guides 27X and 27Y extend parallel to the sides of the support member 21 and the seismic isolation member 23, which are rectangular in plan view. Unlike the illustrated example, the linear guides 27X and 27Y may extend in the diagonal direction.

(Vibration adjustment device)
Fig. 3 is a perspective view showing the configuration of the vibration control device 31. Fig. 3 corresponds to a view in which the seismic isolation member 23 is omitted from Fig. 2 and part of the intermediate member 25 is seen through. Fig. 4 is a plan view showing the configuration of the vibration control device 31. Fig. 4 is more schematic than Fig. 3, but shows components that are omitted in Fig. 3.

In the explanation of Figures 3 and 4, the support member 21 corresponds to the support structure 3 in Figures 1(a) and 1(b), and the intermediate member 25 corresponds to the seismic isolation object 5 in Figures 1(a) and 1(b). The vibration adjustment device 31 has a restoring element 33 that generates a restoring force, as a specific example of the passive element 9 in Figures 1(a) and 1(b).

The restoring element 33 has a connecting portion 33a connected to the support member 21, a connecting portion 33b connected to the intermediate member 25, and an element body 33c that generates a restoring force between the connecting portions 33a and 33b. The connecting portion 33a corresponds to the connecting position P1 in Figs. 1(a) and 1(b). The connecting portion 33b corresponds to the connecting position P2 in Figs. 1(a) and 1(b). In the following, for convenience, the connecting portions 33a and 33b may be expressed as being the same as the connecting positions P1 and P2.

The intermediate member 25 vibrates in the x direction relative to the support member 21, so the x direction corresponds to the D1 direction (the vibration direction of the seismic isolation object 5) in Figures 1(a) and 1(b). The connecting portion 33b is driven by the driving portion 11 in the y direction (corresponding to the D2 direction) that intersects (more specifically, is perpendicular to) the x direction.

The above-described configuration provides the same effect as that described with reference to Figures 1(a) and 1(b) with respect to the vibration of the intermediate member 25 in the x direction relative to the support member 21. Furthermore, the same effect as that described with reference to Figures 1(a) and 1(b) is provided with respect to the vibration of the seismic isolation member 23 (or, from another point of view, the seismic isolation object 5) in the x direction relative to the support member 21 (or, from another point of view, the support structure 3).

The movement of the connecting portion 33b of the restoring element 33 in the y direction is realized, for example, by connecting the connecting portion 33b to a slider 35 that is movable relative to the intermediate member 25. In FIG. 4, the movable range of the slider 35 is indicated by a dotted line. In other words, the slider 35 moves in the y direction within a range in which the slider 35 fits within the area indicated by the dotted line in FIG. 4.

A configuration that includes a member (e.g., slider 35) for achieving a change in tilt angle θ (FIG. 4) in addition to the restoring element 33, and does not include a driving unit 11, is referred to as a restoring mechanism 37. The vibration adjustment device 31 has two restoring mechanisms 37. The two restoring mechanisms 37, for example, have the same configuration as each other, and are arranged symmetrically with respect to a symmetry plane (not shown) perpendicular to the x direction. Unlike the above description, the two restoring mechanisms 37 may have different configurations. However, in the description of the embodiment, both are assumed to have the same configuration unless otherwise specified.

In addition to the components described above, the vibration adjustment device 31 may have, for example, the following components: A damping element 39 (FIG. 4) that generates a damping force for vibration of the intermediate member 25 in the x-direction. A control unit 41 (FIG. 4) that controls the drive unit 11. A sensor 43 (FIG. 4) that detects information related to vibration and inputs it to the control unit 41.

The vibration adjustment device 31 will be described below in general in the following order.
Restoration mechanism 37
Drive unit 11 (and the manner of movement of slider 35)
Damping element 39
Control unit 41
Sensor 43
Vibration adjustment device for vibration of the seismic isolation member 23 relative to the intermediate member 25 in the y direction

(Restoration mechanism)
As described above, the restoring mechanism 37 includes the restoring element 33 and the slider 35. The restoring mechanism 37 will be described below in the following order.
Configuration of the restoring element 33 Arrangement of the restoring element 33 Other configurations (slider 35, etc.)

(Configuration of restoration elements)
The restoring element 33 (element body 33c) generates a restoring force according to the input displacement. For example, this restoring force increases in the direction opposite to the direction of the displacement as the displacement increases. That is, the restoring element 33 has a positive spring characteristic, and the spring constant is generally expressed as a positive value. Note that the restoring element 33 can also have a negative spring characteristic that increases the force in the same direction as the displacement as the displacement increases. However, in the description of the embodiment, unless otherwise specified, the restoring element 33 is assumed to have a positive spring characteristic.

In this embodiment, the displacement input to the restoring element 33 is derived from the change in the distance between the connecting parts 33a and 33b. The larger the displacement, the larger the restoring force, and for example, is proportional to the displacement. The direction in which the restoring force is generated is, for example, the direction connecting the connecting parts 33a and 33b (corresponding to the force direction Df in Figures 1(a) and 1(b)). As already mentioned, the restoring element 33 (element body 33c) may generate a compressive force, a tensile force, or both (generating either one depending on the input displacement).

The configuration of the restoring element 33 (element body 33c) may be similar to various known configurations. For example, the restoring element 33 may be configured to include a helical spring, a leaf spring, an air spring, or rubber. That is, the restoring element 33 may be configured to include an appropriate elastic body, and the elastic force generated by deformation may be used as the restoring force. It is also possible to realize the restoring element 33 by a configuration other than an elastic body. For example, the restoring element 33 may be a mechanism that converts gravity acting on a member rolling or sliding on a curved surface that is concave upward into a restoring force. In addition, the restoring element 33 may be a conceptualized function that generates a restoring force acting in the force direction Df in a component that also generates forces other than the restoring force acting in the force direction Df.

In the illustrated example, the element body 33c that generates the restoring force is located between the action positions P1 and P2. However, the element body 33c can also be located outside the action positions P1 and P2. For example, a wire is provided with one end fixed to the action position P1. A pulley (or a pin, etc.) is also provided at the action position P2. The wire is extended in an appropriate direction (a direction different from the force direction Df) from the action position P1 through the action position P2. The element body 33c that generates the tensile force (for example, a helical spring) is connected to the end of the wire. The end of the helical spring opposite the wire is connected to an appropriate position on the support member 21.

As can be understood from the above explanation, unlike the illustrated example, the action positions P1 and P2 do not have to be connection positions of the restoring element 33 to the support member 21 and the seismic isolation member 23. From another perspective, the force direction Df only needs to be the direction in which the restoring force acts on the support member 21 and the seismic isolation member 23, and does not have to be the direction in which the restoring force is generated.

In addition, although not specifically shown, a mechanism (such as a gear mechanism) for increasing or decreasing the force may be interposed between the element body 33c and the connection position of the restoring element 33 to the support member 21 and/or intermediate member 25. For information on such a mechanism, see, for example, Patent Document 2.

(Layout of restoration elements, etc.)
As already mentioned, the restoring element 33 may be arranged so that the increase or decrease in the force in the force direction Df and the increase or decrease in the force due to the tilt angle θ are added together, or may be arranged so that they are partially offset, or may be arranged so that both the addition and the offset occur (either one occurs depending on the input displacement). In the description of the embodiment, unless otherwise specified, the description may be made on the premise that the increase or decrease in the force in the force direction Df and the increase or decrease in the force due to the tilt angle θ are added together.

When the increase or decrease in force in the force direction Df and the increase or decrease in force due to the tilt angle θ are added together, in the illustrated example, the restoring element 33 is given an initial displacement so that the restoring element 33 is in a compressed state no matter where the slider 35 is located within its movable range. In addition, the movement direction of the slider 35 (the y direction in the illustrated example) is the direction in which the restoring force decreases when the slider 35 moves in a direction in which the tilt angle θ increases.

Although not specifically shown, in the case where the restoring element 33 generates a pulling force and the increase or decrease in force in the force direction Df is added to the increase or decrease in force due to the inclination angle θ, for example, the slider 35 may be moved in the x direction, or the action position P1 may be moved in the x direction. Also, for example, as in the example shown, a pulley may be provided on the slider 35 that moves in the y direction, and a tension spring may be connected to the end of a wire that extends from the action position P1 and passes through the pulley, and the end of the tension spring opposite the wire may be connected to the intermediate member 25 at a position away from the slider 35 on the +y side.

The direction of movement of the action position P2 (slider 35) is arbitrary as long as the tilt angle θ can be changed by moving the action position P2. Such a moving direction is a direction that intersects with the vibration direction (x direction) of the intermediate member 25 and is also a direction that is tilted toward the force direction Df. In the illustrated example, the moving direction of the action position P2 is a direction along a plane (e.g., parallel to the plane) that is along both the x direction and the force direction Df (e.g., parallel to both). In other words, these three directions are along the same plane.

In the illustrated example, the plane along which the above three directions lie is a plane (horizontal plane) perpendicular to the up-down direction. However, as is clear if we assume in Figures 1(a) and 1(b) that the D1 direction is the horizontal direction and the D2 direction is the up-down direction, the above plane may also be a plane perpendicular to the horizontal direction.

In the illustrated example, the movement direction of the action position P2 is a direction perpendicular to the vibration direction (x direction) of the intermediate member 25. Examples of directions other than this will be described later in the explanation of the second embodiment (FIG. 8).

In the movement direction (y direction) of the action position P2, the relative position between the action position P1 and the movable range of the action position P2 is arbitrary. In the illustrated example, the action position P1 is located at one end of the movable range in the y direction (the end on the -y side in the illustrated example). Unlike the illustrated example, the action position P1 may be located outside (on the -y side) of the movable range in the y direction further than the -y end. Furthermore, unlike the illustrated example, the action position P1 may be located inside both ends of the movable range of the action position P2 in the y direction. The difference in action resulting from this difference in position will be described later.

The movable range of the operating position P2 may be determined by the drive limit of the member that guides the slider 35 (in the illustrated example, the linear guide 45 described later), or may be determined by the drive limit of the configuration of the drive unit 11 (e.g., a linear motor or a ball screw mechanism).

The relative position between the movable range of the action position P1 and the action position P2 is arbitrary even in a direction (e.g., x direction) different from the movement direction (y direction) of the action position P2. This relative position may be set appropriately taking into consideration the amount of change in the inclination angle θ relative to the amount of movement of the action position P2, the amount of change in the distance between the action positions P1 and P2 relative to the amount of movement of the action position P2 (the amount of increase or decrease in the displacement input to the restoring element 33), the size of the seismic isolation system 1, etc.

In the illustrated example, the action position P1 is located inside the seismic isolation system 1A (more specifically, the intermediate member 25) with respect to the movable range of the action position P2 in the x direction (the direction perpendicular to the movement direction of the action position P2). However, contrary to the illustrated example, the action position P1 may be located outside the intermediate member 25.

When no earthquake is occurring (in other words, when no vibration is input to the support member 21), the operating position P2 may be located at the center of the movable range (the drive unit 11 may be controlled in this manner). In other words, the initial position of the operating position P2 may be the center of the movable range. The center here refers to, for example, the central range when the movable range is divided into thirds. Furthermore, the initial position of the operating position P2 may be the center of the movable range (exactly halfway between one end and the other end).

As described above, the two restoring mechanisms 37 (two sets of restoring elements 33 and sliders 35) are arranged symmetrically with respect to a plane of symmetry (not shown) perpendicular to the x direction. From another perspective, the restoring elements 33 (in other words, the force direction Df) are inclined in opposite directions with respect to the y direction. Note that, in the description of this embodiment, it is assumed that the two restoring mechanisms 37 have the same configuration, but the relationship in which the restoring elements 33 are inclined in opposite directions may be established in an embodiment in which the two restoring mechanisms 37 have different configurations (e.g., different spring constants).

(Other configurations of the restoration mechanism)
The shape, dimensions, and material of the slider 35 are arbitrary. In addition, the configuration for guiding the slider 35 so as to be movable in the y direction is also arbitrary. In the example of Fig. 3, the slider 35 is guided in the y direction by a linear guide 45. The explanations of the linear guides 27X and 27Y may be applied to the linear guide 45 as long as no contradiction occurs.

3, the intermediate member 25 has a base 29 that faces the support member 21. The linear guide 45 has a rail (reference number omitted) on the surface of the base 29 opposite the support member 21 (the +z side). The slider 35 moves in the y direction on the +z side surface of the base 29. Unlike the illustrated example, the slider 35 may be located, for example, on the surface of the base 29 facing the support member 21 (the -z side), on the inner surface of the opening 29a of the base 29, or on the side surface of the base 29 (the surface opposite the opening 29a).

The connecting portion 33a of the restoring element 33 is connected to the support member 21, for example, rotatably around a rotation axis R1 that is fixed relative to the support member 21 (from another perspective, the action position P1). The connecting portion 33b of the restoring element 33 is connected to the slider 35 (from another perspective, the intermediate member 25), for example, rotatably around a rotation axis R2 that is fixed relative to the slider 35 (from another perspective, the action position P2). The rotation axes R1 and R2 are, for example, perpendicular to a plane (xy plane) that is along (for example, parallel to) the vibration direction (x direction) of the intermediate member 25 and the movement direction (y direction) of the slider 35, and are also parallel to each other.

When the restoring element 33 is rotatably connected to the support member 21 and the slider 35 in this way, theoretically, only a force in the force direction Df acts between the restoring element 33 and the action position P1 or P2. Note that the rotation axes R1 and R2 do not refer to specific members, but are conceptual axes indicating the center of rotation.

The specific configuration for the connection at the rotation axis R1 is arbitrary. In the example of FIG. 3, the support member 21 has an axis member 47 that protrudes to the +z side at the operating position P1. The connection portion 33a of the restoring element 33 is connected to the axis member 47. And, since the axis member 47 is rotatable with respect to the support member 21 (portion other than the axis member 47) and/or the connection portion 33a is rotatable with respect to the axis member 47, the restoring element 33 is rotatable around the rotation axis R1 with respect to the support member 21.

The specific configuration for the connection at the rotation axis R2 is also arbitrary. In the example of FIG. 3, the slider 35 has an axis member 35a that protrudes to the +z side at the operating position P2. The connection portion 33b of the restoring element 33 is connected to the axis member 35a. And, because the axis member 35a is rotatable with respect to the slider 35 (portion other than the axis member 35a) and/or the connection portion 33a is rotatable with respect to the axis member 35a, the restoring element 33 is rotatable around the rotation axis R2 with respect to the support member 21.

As can be understood from the above description of the action position P1, in a plan view, the shaft member 47 of the support member 21 is located, for example, inside the outer edge of the intermediate member 25. The shaft member 47 extends to the +y side so as to pass through the opening 29a formed in the base 29 of the intermediate member 25. As a result, the connection position between the shaft member 47 and the connection portion 33a of the restoring element 33 and the connection position between the shaft member 35a of the slider 35 and the connection portion 33b of the restoring element 33 are at approximately the same height, and thus the force direction Df is approximately parallel to the xy plane. The shaft member 47 may be provided for each of the two restoring elements 33 (as in the illustrated example), or may be shared by the two restoring elements 33.

Unlike the illustrated example, as can be understood from the above explanation of the action position P1, the shaft member 47 may be located outside the intermediate member 25. For example, it may be located on the -y side with respect to the intermediate member 25. Also, for example, the shaft member 47 may be located outside the intermediate member 25 in the x direction. In this case, the inclination of the force direction Df with respect to the y direction is opposite to that in the illustrated example. Also, as can be understood from the above explanation that the slider 35 may be located on the support member 21 side with respect to the intermediate member 25, the shaft member 35a of the slider 35 may protrude toward the support member 21 side. In these cases, the opening 29a is not necessary.

(Drive unit)
The driving unit 11 (FIG. 4) has a driving source 11a that generates a driving force. The driving source 11a may be provided on the intermediate member 25 (illustrated example) or on the slider 35. In the former case, as shown by the solid line in FIG. 4, one driving source 11a shared by the two restoration mechanisms 37 may be provided, or as shown by the additional driving source 11a shown by the dotted line in FIG. 4, a driving source 11a (driving unit 11) may be provided for each restoration mechanism 37. When the driving source 11a is provided on the slider 35, for example, a driving source 11a is provided for each restoration mechanism 37. However, it is also possible to share one driving source 11a between the two restoration mechanisms 37 by connecting the two sliders 35, for example.

The two sliders 35 may move in conjunction with each other. In other words, there may be a certain rule between the movement of one slider 35 and the movement of the other slider 35. From another perspective, when the target value of the control amount (position) of one slider 35 is determined, the target value of the control amount of the other slider 35 may be automatically determined. However, the control amounts of the two sliders 35 may be determined independently of each other.

In a configuration in which the two sliders 35 move in conjunction with each other, the two sliders 35 may, for example, both move at the same amount of movement (or, from another perspective, at different speeds), or may move at different amounts of movement. In the former case, the positions of the two sliders 35 in the y direction may be the same as each other, or may be different.

The interlocking of the two sliders 35 may be realized mechanically (hardware-wise) or by control (software-wise). An example of the former is a mode in which the drive source 11a is shared by the two sliders 35. In this case, the two sliders 35 may be connected to each other and move together, or may be driven by separate transmission mechanisms that transmit the driving force of the drive source 11a. In the latter case, the gear ratios of the two transmission mechanisms may be the same or different. An example of a mode in which the interlocking is realized by control (software-wise) is a mode in which the drive source 11a (in other words, the drive unit 11) is provided for each slider 35, and the target values of the control amounts (positions) of the two sliders 35 follow a certain rule (for example, both are the same).

The drive unit 11 (drive source 11a) may be of any suitable type, such as electric, hydraulic, or pneumatic. In the description of the embodiments, an electric type may be taken as an example unless otherwise specified. In the description of the embodiments, the motor refers to an electric motor. The electric drive source 11a (motor) may be a rotary type or a linear motor. The motor may be a DC motor or an AC motor, an induction motor, or a synchronous motor. When the drive source 11a is a rotary type, the drive unit 11 may have a conversion mechanism that converts rotational motion into translational motion. Examples of such conversion mechanisms include a screw mechanism (ball screw mechanism or sliding screw mechanism) and a rack and pinion mechanism.

(Damping element)
The damping element 39, as already described, generates a damping force with respect to vibrations in the x-direction of the intermediate member 25. More specifically, the damping force acts on the intermediate member 25 in a direction opposite to the direction of the velocity of the intermediate member 25 relative to the support member 21. The damping force, for example, increases with increasing velocity and is typically proportional to the velocity.

The configuration of the damping element 39 may be in various forms, and may be in a known form. For example, the damping element 39 may be an oil damper, a steel damper, or a lead damper, which are commonly used in seismic isolation systems. Just to be clear, an oil damper has a piston connected to one of the intermediate member 25 and the support member 21, and a cylinder connected to the other, and obtains a damping force by viscous resistance when a viscous fluid (e.g., oil) flows in the cylinder as the piston moves relative to the cylinder. A steel damper and a lead damper are made of a metal member of an appropriate shape connected to the intermediate member 25 and the support member 21, and obtain a damping force by utilizing the ductility of metal. In addition, the damping element 39 may be configured to generate a frictional force in association with the relative movement of the intermediate member 25 and the support member 21, or to convert the relative movement of the intermediate member 25 and the support member 21 into the rotation of a rotating body disposed in the viscous fluid.

As described above, in the seismic isolation system 1A, the isolator 7A may have a damping function, or a damping element may be provided separately from the vibration adjustment device 31. Therefore, the vibration adjustment device 31 may not have a damping element 39. The illustrated damping element 39 may be considered to be a conceptualization of the damping function of the isolator 7A, etc.

(Control Unit)
The control unit 41 may be configured, for example, by a computer. The computer includes, for example, a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and an external storage device (not shown). The CPU executes a program stored in the ROM and/or the external storage device to configure various functional units (for example, an agent 51 described below) that perform control, etc. The control unit 41 may include a logic circuit that performs only certain processes.

Although not specifically shown, the control unit 41 may have an input unit that accepts user operations and/or a display unit that presents information to the user. Alternatively, the control unit 41 may have an interface to which the input unit and/or display unit can be connected. Furthermore, the control unit 41 may have a communication unit (or an interface to which a communication unit can be connected) that is connected or can be connected to a network 61 such as the Internet. These components may be used, for example, for various settings (e.g., setting control conditions), downloading various information (e.g., data and/or programs), and/or uploading various information.

The control unit 41 may be placed at any position in the seismic isolation system 1A. For example, it may be placed in any of the support members 21, intermediate members 25, and seismic isolation members 23, or it may be placed at a position away from any of these members. The control unit 41 may also be distributed in hardware to multiple positions. Signals between the control unit 41 and the sensor 43 or driving source 11a may be transmitted either wired or wirelessly.

The control unit 41 controls the motor as the driving source 11a, for example, via a driver (not shown). As a result, the control unit 41 controls the position of the slider 35 in the y direction relative to the intermediate member 25 (position control). The control unit 41 may perform feedback control (full-closed type) based on the detection value of a sensor that detects the position of the slider 35 relative to the intermediate member 25. Alternatively, the control unit 41 may perform feedback control (semi-closed type) based on the detection value of a sensor (e.g., an encoder or resolver) possessed by the driving source 11a and/or a signal from the driver. The control unit 41 may also perform open-loop control without feedback. In addition to position control, the control unit 41 may perform speed control and acceleration control (or torque control) as lower-level control (e.g., minor loop control).

The control unit 41 controls the driving source 11a so that, for example, in various types (e.g., various periods) of seismic motion, both the displacement and acceleration of the intermediate member 25 are reduced. The control method will be described later.

(Sensor)
The seismic isolation system 1A (or, from another point of view, the vibration adjustment device 31) may have various sensors. The sensor 43 shown in Fig. 4 does not represent a specific sensor, but may be regarded as a schematic representation of any one of various sensors that the seismic isolation system 1A may have. Therefore, in the following description, for convenience, there may be references to one or more sensors 43, etc.

The one or more sensors 43 may acquire various information related to vibration, for example, to be used by the control unit 41 to control the drive unit 11. Examples of such information include the following. To simplify the explanation, the combination of the support member 21 and the intermediate member 25, the combination of the intermediate member 25 and the seismic isolation member 23, and the combination of the support structure 3 and the seismic isolation object 5 will be referred to as a combination of a support body and a seismic isolation body. In this case, information detected by the multiple sensors 43 includes the relative displacement, relative velocity, and relative acceleration of the seismic isolation body with respect to the support body, the absolute displacement, velocity, and acceleration of the seismic isolation body, and the absolute displacement, velocity, and acceleration of the support body.

Note that the absolute displacement, velocity, and acceleration refer to, for example, the displacement, velocity, and acceleration in an absolute coordinate system (world coordinate system, reference coordinate system). When the support is the support structure 3 or the support member 21, the absolute displacement, velocity, and acceleration of the support may be considered to be the displacement, velocity, and acceleration of the seismic movement. Also, just to be clear, the one or more sensors 43 do not need to acquire all of the various information described above, and may acquire any information required.

As described above, the control unit 41 may perform feedback control in controlling the drive unit 11. Therefore, the multiple sensors 43 may include a sensor that detects the relative position of the slider 35 (from another perspective, the operating position P2) with respect to the intermediate member 25.

Note that since speed is the differential value of position and acceleration is the differential value of speed, the position sensor, speed sensor, and acceleration sensor may be used interchangeably. Calculations equivalent to differentiation or integration may be performed in the sensor 43 or in the control unit 41. Note that, for example, even when the control unit 41 performs differentiation based on the position detected by the sensor 43 to obtain the speed, the sensor 43 may be considered as a speed sensor. In other words, the position sensor, speed sensor, and acceleration sensor may be considered to be the same as each other.

The specific configuration of the sensor 43 that detects the position, speed, and/or acceleration is arbitrary, and for example, various known sensors may be used. For example, an inertial sensor, a linear encoder, or a laser length measuring device may be used.

(Vibration adjustment device for vibration in the y direction relative to the intermediate member of the seismic isolation member)
The vibration adjustment device 32 (only the base 29 is shown in FIG. 2) relating to the vibration of the seismic isolation member 23 relative to the intermediate member 25 in the y direction may be the same as the vibration adjustment device 31 relating to the vibration of the intermediate member 25 relative to the support member 21 in the x direction. Therefore, the explanation of the vibration adjustment device 31 may be used for the vibration adjustment device 32 as long as no contradiction or the like occurs. In this case, the term "support member 21" is replaced with the term "intermediate member 25" and the term "intermediate member 25" is replaced with the term "seismic isolation member 23", or the term "support member 21" is replaced with the term "seismic isolation member 23" and the term "intermediate member 25" is left as it is. In addition, the term "x" and the term "y" are mutually replaced. The term "+z" and the term "-z" (or terms equivalent thereto) may be replaced as appropriate or left as they are. The position (+z side or −z side) of the slider 35 relative to the base 29 may be on the same side in the vibration adjustment devices 31 and 32, or may be on opposite sides.

In the example of FIG. 2, the vibration adjustment device 32 has a slider 35 on the intermediate member 25 and a shaft member 47 on the seismic isolation member 23 (see vibration adjustment device 31 for both). The intermediate member 25 has an opening 29a on its upper surface through which the shaft member 47 protruding downward from the seismic isolation member 23 is inserted.

The vibration adjustment devices 31 and 32 may be regarded as a single vibration adjustment device. Some of the components may be shared between the vibration adjustment devices 31 and 32. For example, the control unit 41 and some of the multiple sensors 43 may be shared between the two.

In the intermediate member 25, the vibration adjustment devices 31 and 32 (their bases 29, etc.) may be connected as appropriate. For example, the two bases 29 may be connected by a wall located at their outer edges (as in the illustrated example), or by a pillar interposed between them. Furthermore, all or most of the vibration adjustment devices 31 and 32 (e.g., mechanical parts excluding the control unit 41 and/or the sensor 43) may be configured to be exactly the same. In other words, the combination of the vibration adjustment devices 31 and 32 may be formed by connecting the two products with their orientations changed.

(Seismic isolation system control)
In a seismic isolation system, there is a trade-off between acceleration and displacement. In other words, if the seismic isolation performance is increased, the acceleration of the seismic isolation object 5 (or the intermediate member 25) can be reduced, but the relative displacement of the seismic isolation object 5 with respect to the support structure 3 increases. This increase in relative displacement, for example, increases the probability of a collision between the seismic isolation object 5 and surrounding structures. However, if the relative displacement of the seismic isolation object 5 is suppressed, the seismic isolation performance decreases and the acceleration of the seismic isolation object 5 increases. The increase in acceleration can, for example, lead to the destruction of the seismic isolation object 5 due to the inertial force applied to the seismic isolation object 5.

By appropriately adjusting the characteristics of the seismic isolation system (for example, the spring constant, or from another perspective, the natural period), it is possible to keep both displacement and acceleration within the allowable range. However, the period of seismic motion differs for each earthquake, and the period of seismic motion also changes from the start to the end of an earthquake. Therefore, even if the characteristics of a seismic isolation system are set appropriately for one type of earthquake, those characteristics are not necessarily appropriate for other types of earthquakes.

The control unit 41 controls the drive unit 11 to reduce both the displacement and the acceleration based on information on seismic motion and/or vibration of the seismic isolation object 5 (and/or intermediate member 25) caused by seismic motion obtained in real time. This control may be performed using AI (artificial intelligence) technology, for example. Control using AI technology may be achieved by, for example, reinforcement learning or supervised learning. Deep learning may or may not be used.

However, unlike the above description, the control of the drive unit 11 by the control unit 41 may be performed without relying on AI technology. That is, the control unit 41 may control the drive unit 11 according to a predetermined algorithm. This algorithm may be configured, for example, based on information on seismic motion and/or vibration of the intermediate member 25 based on the detection value of the sensor 43, so as to increase the inclination angle θ to lengthen the natural period of the seismic isolation system 1A when the period of the seismic motion is relatively short, and to decrease the inclination angle θ to shorten the natural period of the seismic isolation system 1A when the period of the seismic motion is relatively long.

In the following, an example of control using AI technology that utilizes deep reinforcement learning will be described. There may be various specific methods of deep reinforcement learning. For example, specific methods of reinforcement learning include dynamic programming, Monte Carlo method, and TD learning method (e.g., Q-learning method). Also, specific methods of deep learning include those that use multi-layer (artificial) neural networks (hereinafter sometimes abbreviated as "NN"). Specific examples of NNs include forward propagation NNs (e.g., fully connected NNs and convolutional NNs) and recurrent NNs. Furthermore, a more specific example of deep reinforcement learning includes Deep Q-Network (DQN).

In the following description, the control of the vibration adjustment device 31 related to the vibration of the intermediate member 25 is taken as an example. However, the control of the vibration adjustment device 32 may be performed in a similar manner. The description will be made roughly in the following order.
・Agent configuration and learning method ・Examples of rewards in reinforcement learning

(Agent configuration and learning method)
FIG. 5 is a conceptual diagram showing a part of the configuration of an agent 51 included in the control unit 41 (a part directly involved in control).

The agent 51 has, for example, a neural network (NN) and has an input layer 53, multiple intermediate layers 55, and an output layer 57. Each layer has multiple nodes 59. Hyperparameters such as the number of intermediate layers 55 and the number of nodes 59 in each layer may be set appropriately.

A plurality of pieces of information related to vibration are input to a plurality of nodes 59 in the input layer 53. The information is, for example, as described in the explanation of the sensor 43, and in this case, the relative and/or absolute displacement, velocity, and/or acceleration of the support member 21, the intermediate member 25, and/or the slider 35. The agent 51 calculates a target value of the control amount of the drive unit 11 based on the information input to the input layer 53, and outputs the calculation result from one or more nodes 59 in the output layer 57. The control amount is, for example, the position of the slider 35 in the y direction relative to the intermediate member 25 (a physical amount equivalent thereto; the same applies below). The control unit 41 then controls the drive source 11a so as to achieve the output control amount. The control unit 41 (agent 51) repeats the above series of operations at a predetermined control period (sampling period), for example.

In FIG. 5, a forward propagation NN is illustrated. Therefore, values are passed from the multiple nodes 59 in the previous layer to the multiple nodes 59 in the next layer in order from the input layer 53 side to the output layer 57 side. At this time, the connection weights set for each path from the multiple nodes 59 in the previous layer to the multiple nodes 59 in the next layer are multiplied by the values of the multiple nodes 59 in the previous layer as in a matrix calculation. An appropriate activation function may be used when passing values from the previous layer to the next layer.

The connection weights between the nodes 59 are optimized by reinforcement learning. The information input to the input layer 53 described above corresponds to the "state" information observed by the agent. The target value of the controlled variable output from the output layer 57 (more precisely, the control based on the target value) corresponds to the "action" of the agent. The "value" (Q value) is calculated, for example, by a neural network (not shown). In other words, the reinforcement learning is deep reinforcement learning. The "reward" is, for example, a value (index value) that increases as the absolute acceleration of the intermediate member 25 decreases and increases as the relative displacement of the intermediate member 25 with respect to the support member 21 decreases, as described below.

Reinforcement learning may be performed using time series data. For example, the period during which seismic motion is occurring is divided into small time periods (e.g., 1 ms). Each small time period is considered to be one step. For each step, control is performed by the agent 51 (from another perspective, the target value of the controlled variable is determined), a reward is determined based on the results of the control (absolute acceleration and relative displacement), and the Q value is updated (learned) based on the reward. This step is repeated over the period during which seismic motion is occurring. In this way, the optimal value of the connection weight between the nodes 59 of the agent 51 is obtained. Such learning may be repeated multiple times (e.g., 50 times).

The applicant performed the above learning process 50 times for one earthquake motion using simulation calculations, and then performed another 50 times of learning using the connection weight data that produced the best results. As a result of performing simulation calculations using the connection weight data obtained from these 50 additional learnings, it was possible to keep both absolute acceleration and relative displacement within the general tolerance range regardless of the connection weight data used.

As mentioned above, various information may be input to the input layer 53. In the learning performed by the applicant described above, four items were used: the relative displacement of the intermediate member 25 with respect to the support member 21, the absolute acceleration of the intermediate member 25, the relative velocity of the intermediate member 25 with respect to the support member 21, and the relative displacement of the slider 35 (at action position P2) with respect to the intermediate member 25. In other words, for example, the absolute acceleration, velocity, and displacement of the earthquake motion, and the relative velocity of the action position P2 with respect to the intermediate member 25 were not used.

The above-mentioned learning may be performed by reproducing the behavior of the seismic isolation system 1A through simulation calculations based on actual measurements or hypothetical values of earthquake motion, or may be performed by reproducing the behavior of the seismic isolation system 1 through experiments using an actual or model seismic isolation system 1. Furthermore, when actual earthquake motion occurs, the actual seismic isolation system 1A may perform the above-mentioned learning.

When the seismic isolation system 1A is actually installed, the seismic isolation system 1A (control unit 41) has, for example, a trained agent 51. In other words, the parameters (connection weights between nodes 59) held by the agent 51 are obtained by learning. These parameters may be stored in the control unit 41 at the distribution stage of the control unit 41 (its hardware), or may be downloaded to the control unit 41 from a server 63 (FIG. 4) via a network 61 (FIG. 4) such as the Internet after the control unit 41 is installed, or may be distributed in a state stored in a recording medium and provided to the control unit 41. In the above, the word "parameter" may be replaced with at least a part of the word of the program 52 (FIG. 4) constituting the agent 51.

The trained agent 51 of the actually installed seismic isolation system 1A may or may not have a function for learning based on the earthquake motion actually experienced after the installation. The parameters held by the server 63 may be updated by the learning results of the control unit 41 that has experienced actual earthquake motion. Information on the actual earthquake motion, etc. from the control unit 41 may be uploaded to the server 63, learning may be performed by the server 63, etc., and the parameters held by the server 63 may be updated. These updated parameters may be downloaded to the control unit 41.

(Example of reward in reinforcement learning)
FIG. 6 is a schematic diagram illustrating an example of remuneration.

In this example, the reward is determined based on table data DT1. Specifically, table data DT1 has multiple data sets DS1. Each data set DS1 has information DD1 on the range of absolute values of the relative displacement of the intermediate member 25 with respect to the support member 21, information DA1 on the range of absolute values of the absolute acceleration of the intermediate member 25, and information DR1 indicating the reward height. Among multiple data sets DS1, the range indicated by information DD1, the range indicated by information DA1, and the reward height indicated by information DR1 do not overlap. Furthermore, the smaller the lower limit value (or upper limit value) of the range indicated by information DD1 in a data set DS1, the smaller the lower limit value of the range indicated by information DA1 and the higher the reward height indicated by information DR1.

The learning system (e.g., the control unit 41 or the server 63) that trains the agent 51 identifies, for each of the above-mentioned steps, the data set DS1 to which the relative displacement and absolute acceleration of the intermediate member 25 at that step correspond. The learning system then gives the agent 51 a reward defined in the identified data set DS1. Furthermore, when no corresponding data set DS1 exists, the learning system gives the agent 51 a reward that is lower than the reward of any of the data sets DS1. Note that the awarding of a low reward includes the concept of no reward (the same applies to other examples).

The number of data sets DS1, the specific ranges indicated by the information DD1 and DA1, and the reward height indicated by the information DR1 may be set appropriately. In the illustrated example, the ranges specified by the information DD1 and DA1 are set below the values based on the fact that the upper limit of the allowable relative displacement is generally about 0.3 m and the upper limit of the allowable absolute acceleration is generally about 3.0 m/ ^s2 . Note that the reward value is a value set based on the specific configuration of the learning system, and does not have a physical meaning (in other words, a unit).

Figures 7(a) and 7(b) are schematic diagrams showing other examples of rewards.

In this example, the reward is determined based on table data DT2 and DT3. Specifically, it is as follows:

The table data DT2 has multiple data sets DS2. Each data set DS2 has information DD1 on the range of absolute values of the relative displacement of the intermediate member 25 with respect to the support member 21, and information DR2 indicating the level of the reward. The ranges indicated by the information DD1 of multiple data sets DS2 do not overlap. Furthermore, the smaller the lower limit (or upper limit) of the range indicated by the information DD1 of a data set DS2, the higher the reward (displacement reward) indicated by the information DR2.

The table data DT3 has multiple data sets DS3. Each data set DS3 has information DA1 on the range of absolute values of the absolute acceleration of the intermediate part 25, and information DR3 indicating the level of the reward. The ranges indicated by the information DA1 of the multiple data sets DS3 do not overlap. Furthermore, the smaller the lower limit (or upper limit) of the range indicated by the information DA1 of a data set DS3, the higher the reward (acceleration reward) indicated by the information DR3.

The learning system (e.g., the control unit 41 or the server 63) that trains the agent 51, for example, for each of the above-mentioned steps, identifies the data set DS2 to which the relative displacement of the intermediate member 25 of that step corresponds, and identifies the data set DS3 to which the absolute acceleration of the intermediate member 25 of that step corresponds. The learning system then multiplies the reward values defined in the identified data sets DS2 and DS3, and gives the resulting value to the agent 51. Note that when the corresponding data sets DS2 and/or DS3 do not exist, the learning system gives the agent 51 a reward that is lower than the product of the reward values of both data sets DS2 and DS3.

(Summary of the first embodiment)
As described above, the seismic isolation system 1A includes the isolator 7A, the first passive element (passive element 9, more specifically, the restoring element 33), the first driving unit (driving unit 11), and the control unit 41. The isolator 7A supports a seismic isolation body (e.g., the intermediate member 25), which is one of the first object and the second object (e.g., the intermediate member 25 and the support member 21), so as to be movable at least in a first movement direction (e.g., the x-direction) relative to the other support body (e.g., the support member 21). The restoring element 33 generates a first force acting on the intermediate member 25 and the support member 21 in a first force direction (force direction Df), which is at least one of a restoring force and a damping force (here, a restoring force) in the relative movement in the x-direction between the intermediate member 25 and the support member 21. The drive unit 11 generates a drive force that changes the inclination angle θ of the force direction Df with respect to the x-direction by moving a first action position (action position P2) where the restoring element 33 applies the first force to a first object (e.g., the intermediate member 25) relative to the intermediate member 25. The control unit 41 controls the drive unit 11.

Therefore, as described with reference to FIG. 1, various effects are achieved. For example, the characteristics (here, the spring constant) of the seismic isolation system 1 that affect the vibration of the intermediate member 25 can be adjusted according to the period of the seismic motion. As a result, for example, in earthquakes of various types (e.g., various periods), both the relative displacement of the intermediate member 25 with respect to the support member 21 and the absolute acceleration of the intermediate member 25 can be reduced. Since the characteristic adjustment is realized by changing the inclination angle θ, for example, the degree of freedom in the design of the restoring element 33 is improved.

The first passive element (passive element 9) may include a restoring element 33 that generates a restoring force in the force direction Df.

In this case, for example, by adjusting the inclination angle θ, the spring constant of the seismic isolation system 1A can be changed, and the natural period of the seismic isolation system 1 can be changed. As a result, the relationship between the period of the seismic motion and the natural period of the seismic isolation system 1A can be adjusted according to the period of the seismic motion, and both the relative displacement of the intermediate member 25 with respect to the support member 21 and the absolute acceleration of the intermediate member 25 can be reduced.

The direction of movement of the first action position (action position P2) relative to the first object (intermediate member 25) may be a direction in which the restoring force of the restoring element 33 in the force direction Df decreases as the inclination angle θ increases.

In this case, for example, as described with reference to Figures 1(a) and 1(b), the decrease (or increase) in the x-direction component force (F1x or F2x) due to the change in the tilt angle θ can be added to the decrease (or increase) in the restoring force (F1 or F2) in the force direction Df. As a result, for example, the adjustment range of the spring constant can be widened and the vibration adjustment device 31 can be made smaller.

The second action position (action position P1) where the first force in the force direction Df acts on the second object (support member 21) is always located at the one end or on the opposite side (-y side) of the one end in the direction (y direction) from one end (-y side end) of the movable range of the first object (intermediate member 25) to the other end of the first action position (action position P2).

In this case, for example, the movable range of the action position P2 can be effectively utilized compared to a case where the action position P1 is located inside the movable range of the action position P2 in the y direction (this case is also included in the technology according to the present disclosure. Hereinafter, this case will be referred to as the other embodiment in this paragraph). Specifically, in the above-mentioned other embodiment, when the action position P2 is in the same position as the action position P1 in the y direction, the inclination angle θ becomes 0°. And, when the action position P2 moves from the position of the inclination angle θ = 0° to the +y side or to the -y side, the absolute value of the inclination angle θ changes in the same way. That is, the change in the characteristic (here, the spring constant) of the seismic isolation system 1A due to the change in the inclination angle θ is the same. Therefore, in the end, only the movement from the position of the inclination angle θ = 0° to one of the +y side and the -y side is utilized, and the movement to the other side is not utilized. In this embodiment, such inconvenience is eliminated.

When no vibration is input to the support (support member 21), the drive unit 11 may position the first operating position (operating position P2) at the center of its movable range (the initial position may be the center).

In this case, the time required to move the action position P2 to an arbitrary position is shortened on average, compared to, for example, an embodiment in which the initial position is located at one end of the movable range (this embodiment is also included in the technology related to this disclosure. Hereinafter, this embodiment will be referred to as the other embodiment in this paragraph). For example, in the above other embodiment, the time required for the action position P2 located at one end of the movable range to move to the other end of the movable range is twice the time required for the action position P2 to move to the other end of the movable range in this embodiment. Since the time required to move the action position P2 to an arbitrary position is shortened on average, the characteristics of the seismic isolation system 1A can be quickly changed in response to the start of seismic motion or a change in seismic motion, etc., to reduce displacement and/or acceleration.

The seismic isolation body (intermediate member 25) may be guided in a first movement direction (x direction) relative to the support body (support member 21) (in other words, movement in other directions may be restricted). The drive unit 11 may drive the first action position (action position P2) relative to the first object (intermediate member 25) in a first adjustment direction (y direction) along a plane (xy plane) along the x direction and the force direction Df. The first adjustment direction (y direction) may be perpendicular to the x direction.

In this case, for example, compared to a mode in which the action position P2 is moved in the x direction (this mode is also included in the technology related to the present disclosure), when the inclination angle θ is relatively small (for example, 45° or less), the amount of change in the inclination angle θ relative to the amount of movement of the action position P2 can be made large. In other words, a relatively small inclination angle θ is easy to use in the principle of this embodiment. When the inclination angle θ is small, the proportion (cos θ) of the component force in the x direction (see F1x in FIG. 1(a)) to the force in the force direction Df (see F1 in FIG. 1(a)) is large. As a result, the capacity of the passive element 9 can be effectively utilized. From another perspective, the performance of the passive element 9 can be degraded.

The seismic isolation body (intermediate member 25) may be guided in a first moving direction (x direction) relative to the support member (support member 21). In addition to the first passive element and the first driving unit (one of the two restoring mechanisms 37, the restoring element 33, and the driving unit 11), the seismic isolation system 1A may have a second passive element and a second driving unit (the other of the two restoring mechanisms 37, the restoring element 33, and the driving unit 11). The second passive element may generate a second force acting on the intermediate member 25 and the support member 21 in a second force direction (force direction Df), which is at least one of a restoring force and a damping force in the relative movement in the x direction between the first object (intermediate member 25) and the second object (support member 21). The second driving unit may generate a driving force that moves a third action position (action position P2) where the second force acts on the intermediate member 25 relative to the support member 21, thereby changing the inclination angle of the second force direction relative to the x direction. The first force direction (the force direction Df of one of the restoring elements 33) and the second force direction (the force direction Df of the other restoring element 33) may be inclined in opposite directions relative to the direction perpendicular to x (the y direction).

Here, the inclination angle θ changes not only due to the movement of the slider 35 relative to the intermediate member 25, but also due to the vibration of the intermediate member 25 in the x direction relative to the support member 21. That is, the characteristic (spring constant) of the seismic isolation system 1A to be adjusted also changes due to the vibration of the intermediate member 25. However, by inclining the restoring elements 33 in opposite directions as described above, at least a part of the change in characteristics caused by the change in the inclination angle θ due to the vibration of the intermediate member 25 is offset between the two passive elements 9 (restoring elements 33). As a result, the accuracy of the adjustment of the characteristics due to the movement of the slider 35 relative to the intermediate member 25 is improved. Also, in a mode in which the passive element 9 is the restoring element 33 and the restoring element 33 generates a restoring force when the action position P2 is in its initial position (a position when no earthquake occurs), at least a part of the restoring force at the initial position is offset between the two restoring elements 33. This makes it easier to position the intermediate member 25 in its initial position. In addition, in a configuration in which only one restoring element 33 is provided and the restoring element 33 generates a restoring force when the action position P2 is in its initial position (this configuration is also included in the technology related to the present disclosure), for example, another restoring element (for example, one whose action position does not move) that cancels out the restoring force in the initial position may be provided as appropriate.

The first operating position (operating position P2 of one of the restoring mechanisms 37) and the third operating position (operating position P2 of the other of the restoring mechanisms 37) may move in conjunction with each other.

In this case, for example, control is made easier and/or more stable than in a mode in which the two action positions P2 are controlled independently of each other (this mode is also included in the technology related to the present disclosure). For example, when optimizing the connection weights held by the agent 51 by deep reinforcement learning, the likelihood that an inappropriate value will be selected is reduced. As a result, control by the agent 51 is stabilized. From another perspective, the burden of reinforcement learning (such as the number of trial and error processes) can be reduced.

The first passive element (passive element 9, more specifically, the restoring element 33) may have a first connecting portion (connecting portion 33b), a second connecting portion (connecting portion 33a), and an element body 33c. The connecting portion 33b may be connected to the intermediate member 25 rotatably about a first rotation axis (rotation axis R2) perpendicular to the first movement direction (x direction) with respect to a first object (e.g., the intermediate member 25). The connecting portion 33a may be connected to the support member 21 rotatably about a second rotation axis (rotation axis R1) parallel to the rotation axis R2 with respect to a second object (e.g., the support member 21). The element body 33c may be located between the connecting portion 33b and the connecting portion 33a, and may generate a first force with a magnitude according to at least one of the relative position and relative movement (relative position in this embodiment) between the connecting portion 33b and the connecting portion 33a in a first force direction (force direction Df) connecting the connecting portion 33b and the connecting portion 33a. The driving unit 11 may generate a driving force that moves the position of the connecting portion 33b relative to the intermediate member 25 in a first adjustment direction (y direction) that is perpendicular to the rotation axis R2 and intersects with the force direction Df.

In this case, for example, with a relatively simple configuration, only the force in the force direction Df can be applied to the action positions P1 and P2. As a result, the accuracy of adjusting the characteristics of the seismic isolation system 1A by changing the inclination angle θ is improved.

The seismic isolation system 1A may further include a slider 35 that is guided in a first adjustment direction (y direction) relative to a first object (e.g., intermediate member 25). The first connecting portion (connecting portion 33b) may be connected to the slider 35 so as to be rotatable around a first rotation axis (rotation axis R2) relative to the slider 35.

In this case, for example, the operating position P2 can be stably moved along a predetermined path with a relatively simple configuration. An example of a configuration that does not use the slider 35 is a configuration in which the connecting part 33b is rotatably connected to the tip of a rotating arm.

The control unit 41 may perform reinforcement learning for the control of the first drive unit (drive unit 11) based on information about vibrations in the first movement direction (x direction) of the seismic isolation body (e.g., intermediate member 25). The reward in reinforcement learning may be higher as the absolute value of the relative displacement of the intermediate member 25 with respect to the support body (e.g., support member 21) becomes smaller, and may be higher as the absolute value of the absolute acceleration of the intermediate member 25 becomes smaller.

In this case, for example, it is possible to realize control that reduces both the relative displacement and absolute acceleration in various types of earthquakes. In addition, in theory, optimal control results can be obtained through reinforcement learning.

The reward may be determined based on a table (table data DT1) having multiple data sets DS1. Each of the multiple data sets DS1 may have first range information (information DD1), second range information (information DA1), and reward information (information DR1). The information DD1 may indicate the range of absolute values of the relative displacement of the seismic isolation body (e.g., intermediate member 25) with respect to the support body (e.g., support member 21). The information DA1 may indicate the range of absolute values of the absolute acceleration of the intermediate member 25. The information DR1 may indicate the height of the reward. The multiple data sets DS1 may be set such that the range indicated by the information DD1, the range indicated by the information DA1, and the height of the reward indicated by the information DR1 do not overlap with each other. In addition, the multiple data sets DS1 may be set such that the lower limit value of the range indicated by the information DD1 in the data set DS1 is smaller, the lower limit value of the range indicated by the information DA1 is smaller, and the height of the reward indicated by the information DR1 is higher. When a data set DS1 corresponding to the acquired absolute value of the relative displacement of the intermediate member 25 with respect to the support member 21 and the absolute value of the absolute acceleration of the intermediate member 25 exists, the reward of the height indicated by the information DR1 of the corresponding data set DS1 may be used. When a corresponding data set DS1 does not exist, a reward lower than the reward of any data set DS1 (including no reward) may be used.

In this case, for example, both the relative displacement and the absolute acceleration can be evaluated strictly. As a result, for example, an agent 51 with excellent stability can be obtained.

In contrast to the above, the reward may be determined based on the product of an index value (displacement reward) based only on one of two values, the absolute value of the relative displacement of the seismic isolation body (e.g., intermediate member 25) with respect to the support body (e.g., support member 21) and the absolute value of the absolute acceleration of the intermediate member 25, which increases as the one value decreases, and an index value (acceleration reward) based only on the other of the two values, which increases as the other value decreases.

In this case, for example, it is possible to suppress either the relative displacement or the absolute acceleration, whichever is easier to suppress. In other words, it is possible to obtain an agent 51 that performs control so as to maximize the advantages of the seismic isolation system 1A.

In reinforcement learning, the control unit 41 may use the following as vibration information: the relative displacement of the seismic isolation body (e.g., intermediate member 25) with respect to the support body (e.g., support member 21), the absolute acceleration of the intermediate member 25, the relative velocity of the intermediate member 25 with respect to the support member 21, and the relative displacement of the first action position (action position P2) with respect to the first object (e.g., intermediate member 25). In addition, the control unit 41 may not use the following as vibration information: the absolute acceleration, velocity, and displacement applied to the support member 21, and the relative velocity of action position P2 with respect to the intermediate member 25.

In this case, for example, the variation in the learning results over multiple learning sessions is reduced. In other words, the learning results are more likely to be stable. From another perspective, the learning burden (the number of trial and error steps, etc.) can be reduced. However, if the learning burden can be increased, it is expected that the agent 51 will be more optimized the more information is input. Therefore, it goes without saying that the information that was not used above may also be used.

A vibration adjustment device 31 can be extracted from the embodiment. For example, the vibration adjustment device 31 has a passive element 9, a drive unit 11, and a control unit 41. The passive element 9 generates a first force acting on the intermediate member 25 and the support member 21 in a force direction Df, which is at least one of a restoring force and a damping force in the relative movement in the movement direction (x direction) between a first object (e.g., intermediate member 25) and a second object (e.g., support member 21). The drive unit 11 moves an action position P2 at which the passive element 9 applies the first force to the intermediate member 25 relative to the intermediate member 25, thereby generating a drive force that changes the inclination angle θ of the force direction Df with respect to the x direction. The control unit 41 controls the drive unit 11.

By using such a vibration adjustment device 31, the seismic isolation system 1A according to the embodiment can be realized. In the embodiment, some components are shared between the vibration adjustment device 31 and the isolator 7A. However, it is also possible to distribute only the vibration adjustment device 31 that does not include an isolator, so that components are not shared between the two.

Furthermore, from the embodiment, a method for producing a program 52 used in the seismic isolation system 1A can be extracted. This production method creates a program 52 for a trained agent 51 by reinforcement learning for control of a first drive unit (drive unit 11) based on information on vibration in a first moving direction (x direction) of a seismic isolation body (e.g., intermediate member 25). The reward in the above reinforcement learning is higher as the absolute value of the relative displacement of the intermediate member 25 with respect to the support body (e.g., support member 21) is smaller, and is higher as the absolute value of the absolute acceleration of the intermediate member 25 is smaller.

By using such a program 52, the seismic isolation system 1A according to the embodiment can be realized. As already mentioned, the program 52 may be provided in various forms and may be distributed separately from the hardware of the seismic isolation system 1A and/or the operating system of the control unit 41. The program 52 may include only the portion that changes through learning.

Second Embodiment
Fig. 8 is a plan view showing a seismic isolation system 1B according to the second embodiment, and corresponds to Fig. 4. However, among the components shown in Fig. 4, some of the configurations that may be similar to those of the first and second embodiments are omitted from the illustration. The same applies to the drawings showing the other embodiments described later.

The vibration adjustment device 31B of the seismic isolation system 1B differs from the first embodiment in the movement direction (an example of the first adjustment direction) of the slider 35 (action position P2). Specifically, in this embodiment, as in the first embodiment, the movement direction of the slider 35 is along a plane (xy plane) along the vibration direction (x direction; an example of the first movement direction) and the force direction Df (see FIG. 1(a); an example of the first force direction). However, the movement direction of the slider 35 is inclined toward the side of the direction (y direction) perpendicular to the vibration direction (x direction) in the xy plane, where the inclination with respect to the force direction Df is greater than the perpendicular direction (y direction).

By setting the movement direction of the action position P2 in this way, for example, compared to the first embodiment, when the inclination angle θ (FIG. 4) is in a relatively large range (for example, 45° or more), the decrease in the amount of change in the inclination angle θ relative to the amount of movement of the action position P2 can be reduced. As a result, for example, the characteristics (e.g., spring constant) of the seismic isolation system 1B can be changed quickly on average over the entire movable range of the action position P2.

Although not shown, the movement direction of the action position P2 may be curved rather than linear. For example, in the example shown, the movement direction of the action position P2 may be inclined so that the inclination with respect to the y direction increases toward the +y side. Also, as can be understood from this aspect, when the first adjustment direction (movement direction of the action position P2) is inclined with respect to the direction (y direction) perpendicular to the first movement direction (x direction) such that the inclination with respect to the force direction Df is greater than the perpendicular direction (y direction), the movement direction of the action position P2 does not need to satisfy the above requirements over the entire movable range of the action position P2, and only a portion of the range may satisfy the above requirements.

Third Embodiment
FIG. 9 is a plan view showing a seismic isolation system 1C according to the third embodiment, and corresponds to FIG.

The vibration adjustment device 31C of the seismic isolation system 1C is configured so that the damping coefficient of the damping element 39 is substantially changed by active control. Specifically, the connection position (position where the damping force acts) of the damping element 39 with respect to the intermediate member 25 and one of the support members 21 (the former in the illustrated example) is movable in the vibration direction (x direction, the movement direction of the intermediate member 25 relative to the support member 21) with respect to the one member (the intermediate member 25).

More specifically, for example, one end of the damping element 39 can be moved in the x direction by a slider 65 similar to the slider 35. The slider 65 is driven in the x direction by a driving force applied by a driving unit (not shown). The description of the driving unit 11 (Figure 4) may be used for this driving unit. The driving unit is controlled by the control unit 41 (Figure 4).

The damping element 39 generates a damping force in the process of changing the distance between its two ends (becoming longer or shorter). Therefore, when the driving unit applies a driving force in a direction that promotes the change in the distance, the damping element 39 effectively has a higher damping coefficient. Conversely, when the driving unit applies a driving force in a direction that suppresses the change in the distance, the damping element 39 effectively has a lower damping coefficient.

When the damping coefficient of the damping element 39 is made relatively large, the intermediate member 25 is more likely to move together with the support member 21, and the relative displacement of the intermediate member 25 with respect to the support member 21 is reduced. Conversely, when the damping coefficient of the damping element 39 is made relatively small, the intermediate member 25 is more likely to move relative to the support member 21, and the absolute acceleration of the intermediate member 25 is reduced.

Therefore, for example, based on information obtained from the multiple sensors 43, the control unit 41 effectively increases the damping coefficient of the damping element 39 when the period of the seismic motion is relatively long, and effectively decreases the damping coefficient of the damping element 39 when the period of the seismic motion is relatively short. This makes it possible to reduce both the relative displacement and the absolute acceleration in earthquakes of various types (e.g., periods). Note that the control performed by the control unit 41 in driving the slider 65 may or may not be control using AI technology (e.g., deep reinforcement learning), similar to the control performed in driving the slider 35. The description of the control of the slider 35 in the first embodiment may be used in the description of the control of the slider 65.

Fourth Embodiment
FIG. 10 is a plan view showing a seismic isolation system 1D according to the fourth embodiment, and corresponds to FIG.

In the vibration adjustment device 31D of the seismic isolation system 1C, a damping element 39 is provided as a passive element 9 whose inclination angle θ is adjusted. The explanation of the first embodiment may be used in this embodiment as long as no contradiction occurs. In this case, the term "restoring element 33" is replaced with the term "damping element 39."

In this embodiment, the vibration adjustment device 31D may or may not have a restoring element 33. If it has a restoring element 33, the spring constant of the restoring element 33 may or may not be substantially adjustable by the inclination angle θ, as in the first embodiment. In the former case, the damping element 39 and the restoring element 33 may or may not share the slider 35 or the like. In addition, examples of the embodiment in which the spring constant of the restoring element 33 is not substantially adjustable by the inclination angle θ include, for example, an embodiment in which the characteristics (spring constant) are not substantially adjustable, as in the damping element 39 of the first embodiment, and an embodiment in which the characteristics are substantially adjusted, as in the damping element 39 of the third embodiment (FIG. 9).

As described above, the first passive element (passive element 9) may include a damping element 39 that generates a damping force in a first force direction (see force direction Df in FIG. 1(a)).

In this case, for example, as described with reference to Figures 1(a) and 1(b), the damping coefficient can be adjusted by position control rather than speed control, making control easier.

Fifth Embodiment
Fig. 11 is a perspective view showing a seismic isolation system 1E according to the fifth embodiment, and corresponds to Fig. 3. In this figure, the configuration of the seismic isolation system 1E is shown in perspective with the configuration related to the seismic isolation member 23.

In the first embodiment, the vibration adjustment device 31 adjusted the characteristics of the seismic isolation system 1A with respect to vibrations in one direction (x direction). Then, the combination of the vibration adjustment devices 31 and 32 adjusted the characteristics of the seismic isolation system 1A with respect to vibrations in any direction along the xy plane. That is, the vibration adjustment device (combination of 31 and 32) of the first embodiment had a two-stage configuration. On the other hand, the vibration adjustment device 31E of the present embodiment has a single stage configuration and adjusts the characteristics of the seismic isolation system 1E with respect to vibrations in any direction along the xy plane. Specifically, for example, it is as follows.

As in the first embodiment, the seismic isolation member 23 is movable in any direction along the xy plane relative to the support member 21. As in the first embodiment, the configuration of the isolator 7E that realizes this movement may be in various forms. In the illustrated example, the isolator 7E is configured by linear guides arranged at multiple positions (four positions in the illustrated example) of the support member 21 in a plan view.

Specifically, in the illustrated example, the following components are provided at each of the four corner positions of the support member 21 and the seismic isolation member 23 in a plan view. A linear guide 67X has a rail (reference number omitted) fixed to the support member 21 and guides the intermediate member 25E in the x direction. A linear guide 67Y has a rail (reference number omitted) fixed to the seismic isolation member 23 and guides the intermediate member 25E in the y direction. The explanation of the linear guides 27X and 27Y in the first embodiment may be applied to the linear guides 67X and 67Y. Unlike the intermediate member 25 of the first embodiment, the intermediate member 25E does not function as a member that contributes to the installation of the vibration adjustment device 31E (or as part of the vibration adjustment device 31E).

The vibration adjustment device 31E has at least two (three in the illustrated example) restoring elements 33, for example, similar to the vibration adjustment device 31 of the first embodiment. However, unlike the first embodiment, the restoring elements 33 are not connected to the support member 21 and the intermediate member 25E (more precisely, the slider 35). In other words, the restoring elements 33 are connected to the support member 21 (more precisely, the slider 35) and the seismic isolation member 23. And they directly (without going through the intermediate member 25E) affect the relative movement of the support member 21 and the seismic isolation member 23.

More specifically, in the illustrated example, a linear guide 45 and a slider 35 are provided on one of the support member 21 and the seismic isolation member 23 (support member 21 in the illustrated example). These configurations are similar to those of the first embodiment. Also, a shaft member 69 equivalent to the shaft member 47 of the first embodiment is provided on the other of the support member 21 and the seismic isolation member 23 (seismic isolation member 23 in the illustrated example). One end of the restoring element 33 is connected to the slider 35, and the other end is connected to the shaft member 69. Note that the shaft member 69 may be provided for each of the multiple restoring elements 33, as with the shaft member 47, or may be shared by the multiple restoring elements 33 (illustrated example).

The slider 35 is movable in a direction intersecting the restoring element 33 (or, from another point of view, the force direction Df (FIG. 1(a))). Therefore, similar to the first embodiment, the movement of the slider 35 (action position P2) changes the inclination angle θ (see FIG. 4) in any direction along the xy plane (an example of the first movement direction). Note that, unlike the action positions P1 and P2 in the first embodiment, the action positions P1 and P2 are positions where the restoring force acts on the seismic isolation member 23 and the support member 21, rather than on the support member 21 and the intermediate member 25.

At least two (three in the illustrated example) restoring mechanisms 37 (combinations of restoring elements 33, sliders 35, and linear guides 45) have action positions P1 and P2, and the direction of movement of action position P2 (slider 35) set so that the force directions Df can cross each other. This makes it possible to generate a restoring force in any direction along the xy plane.

In the illustrated example, the three restoration mechanisms 37 are identical in configuration and are arranged so that their orientations are shifted by 120°. From another perspective, in planar view of the xy plane, the movement ranges of the orientations of the three force directions Df (the range of change in the force direction Df due to movement of the action position P2) are located in different angular ranges (different 120° ranges) obtained by dividing 360° into thirds. In this case, the movement ranges of the three force directions Df may be, for example, separated from each other and falling within the different angular ranges divided into three (illustrated example), or may extend beyond the different angular ranges divided into three and overlap each other.

More specifically, in the illustrated example, the linear guides 45 are arranged to form a roughly equilateral triangle. The shaft member 69 is located at the geometric center of the triangle. This establishes the relationship between the three force directions Df as described above. Note that the relationship between the three force directions Df as described above may be established in a manner different from the illustrated example. For example, a combination of one linear guide 45 and one shaft member 69 may be arranged in one direction, with the orientations shifted by 120° each. In other words, the linear guides 45 do not have to form a triangle. Also, the shaft members 69 provided for each linear guide 45 may be arranged outside the three linear guides 45 arranged in a triangle.

The relative position of the action position P1 with respect to the movable range of the action position P2 (slider 35) in the moving direction of the action position P2 is set to the center side of the movable range of the action position P2 (e.g., the central position), unlike the first embodiment. However, the action position P1 may be located at one end of the movable range of the action position P2 or outside that end, as in the first embodiment. The position (initial position) of the action position P2 within the movable range when no earthquake is occurring may be an appropriate position, as in the initial position of the first embodiment, and may be, for example, the central side of the movable range (e.g., the central position).

The vibration adjustment device 31E has, for example, three drive units 11 (FIG. 4) corresponding to the three restoration mechanisms 37. The three sliders 35 are not connected to each other. The three restoration mechanisms 37 do not share the drive source 11a with each other. The control unit 41 (FIG. 4) controls the three drive units 11, for example, in such a manner that the movement amounts of the three action positions P2 can take different values. The control unit 41 may perform control using AI technology (e.g., deep reinforcement learning) as in the first embodiment. In this case, the output layer 57 may have, for example, three nodes 59 corresponding to the displacements of the three sliders 35.

As described above, the isolator 7E may support the seismic isolation body (e.g., the seismic isolation member 23) so that it can move in any movement direction along a plane (xy plane) including the first movement direction (x direction) relative to the support body (e.g., the support member 21). The seismic isolation system 1E may have a second passive element and a second drive unit (one of the three restoring mechanisms 37, the restoring element 33, and the drive unit 11) and a third passive element and a third drive unit (the remaining one of the three restoring mechanisms 37, the restoring element 33, and the drive unit 11). The movement ranges of the three force directions Df may be located in different angular ranges obtained by dividing 360° into three equal parts.

In this case, for example, the single-stage vibration adjustment device 31E can change the characteristics (spring constant in the illustrated example) of the seismic isolation system 1E with respect to vibration in any direction along the xy plane. This is therefore advantageous for example in making the vibration adjustment device 31E thinner.

In addition, compared to an embodiment in which a single-stage vibration control device is configured using only two restoring mechanisms 37 with different orientations (this embodiment is also included in the technology related to the present disclosure), unnecessary restoring forces can be offset by the restoring elements 33. For example, as shown below.

The restoring element 33 may be attached, for example, so as to generate a restoring force no matter where the action position P2 is located within its movable range. In this case, the restoring element 33 generates a restoring force even when the action position P2 is in the initial position (the position when no earthquake is occurring). On the other hand, the seismic isolation system 1E, for example, cancels the restoring force when the action position P2 is in the initial position, and positions the seismic isolation member 23 in the initial position relative to the support member 21.

In a mode in which a single-stage vibration adjustment device is constructed using only two restoring mechanisms 37 with different orientations, for example, a restoring element 33 (a restoring element 33 that is not moved by the slider 35) is provided separately from the restoring mechanism 37 in order to cancel the restoring force when the action position P2 is in the initial position. On the other hand, in this embodiment, the three restoring mechanisms 37 can cancel each other out in the restoring force of the initial position. As a result, for example, the restoring element 33 provided separately from the restoring mechanism 37 can be eliminated or made smaller. As a result, for example, the vibration adjustment device 31E can be made smaller.

In the embodiment illustrated in FIG. 1(a), the seismic isolation object 5 is an example of the first object, and the support structure 3 is an example of the second object. In the first to fourth embodiments (FIGS. 2 to 10), for the lower vibration adjustment device 31 and the like of the two-stage vibration adjustment device, the intermediate member 25 is an example of the first object, and the support member 21 is an example of the second object. In the first (and second to fourth) embodiments (FIG. 2), for the upper vibration adjustment device 32, the intermediate member 25 is an example of the first object, and the seismic isolation member 23 is an example of the second object. In the fifth embodiment (FIG. 11), the support member 21 is an example of the first object, and the seismic isolation member 23 is an example of the second object.

In the embodiment illustrated in FIG. 1(a), the seismic isolation object 5 is an example of a seismic isolation body, and the support structure 3 is an example of a support body. In the first to fourth embodiments (FIGS. 2 to 10), for the lower vibration adjustment device 31 and the like among the two-stage vibration adjustment devices, the intermediate member 25 is an example of a seismic isolation body, and the support member 21 is an example of a support body. For the upper vibration adjustment device 32, the seismic isolation member 23 is an example of a seismic isolation body, and the intermediate member 25 is an example of a support body. In the fifth embodiment (FIG. 11), the seismic isolation member 23 is an example of a seismic isolation body, and the support member 21 is an example of a support body.

In all embodiments, the operating position P2 is an example of the first operating position, and the operating position P1 is an example of the second operating position. In the first to fourth embodiments, one operating position P2 is an example of the first operating position, and the other operating position P2 is an example of the third operating position. In the fifth embodiment, one operating position P2 is an example of the first operating position, the other operating position P2 is an example of the third operating position, and the remaining operating position P2 is an example of the fourth operating position.

The technology disclosed herein is not limited to the above embodiments and may be implemented in various ways.

For example, in an embodiment (other than the fourth embodiment (FIG. 10)) in which a restoring element is exemplified as a passive element whose tilt angle changes, a damping element may be provided as a passive element whose tilt angle changes instead of or in addition to the restoring element. Furthermore, when both a restoring element and a damping element are provided as passive elements whose tilt angle changes, as described in the fourth embodiment, the two may or may not share members such as a slider.

As mentioned in the description of the embodiment, of the two operating positions of one passive element, the operating position that is driven to change the tilt angle may be the opposite of that in the embodiment. In other words, the specific examples of the first object and the second object may be the opposite of that in the embodiment. For example, in the first embodiment, the restoring element 33 connected to the support member 21 and the intermediate member 25 may be such that the connecting position with the support member 21 is movable relative to the support member 21, and the connecting position with the intermediate member 25 is immovable relative to the intermediate member 25.

As mentioned in the description of the embodiment, two of the two operating positions of one passive element may be driven. For example, in the first embodiment, the restoring element 33 connected to the support member 21 and the intermediate member 25 may be movable not only at the connecting position with the intermediate member 25 relative to the intermediate member 25, but also at the connecting position with the support member 21 relative to the support member 21. In such an embodiment, the moving directions of the two operating positions may be the same or different from each other. This embodiment is effective, for example, when it is difficult to ensure a movable range for both of the two operating positions. Note that the embodiment in which only one of the two operating positions is moved is simple in configuration and easy to control.

In the description of the embodiment, the main point of the embodiment has been described as changing the characteristics (spring constant or damping coefficient) of the seismic isolation system (vibration adjustment device) by changing the tilt angle. However, various other concepts may be extracted from this disclosure. For example, the following concept, which is based on reinforcement learning, may be extracted.

(Concept 1)
an isolator that supports a seismic isolation body, which is one of a first object and a second object, so as to be movable in at least a first movement direction relative to a support body, which is the other of the first object and the second object;
a passive element that generates a first force that serves as at least one of a restoring force and a damping force in the relative movement between the first object and the second object in the first movement direction;
a driving unit that generates a driving force that moves an action position where the passive element applies the first force to the first object relative to the first object;
A control unit that controls the drive unit;
It has
the control unit performs reinforcement learning on control of the first drive unit based on information about the vibration of the seismic isolation body in the first movement direction,
A seismic isolation system, wherein a reward in the reinforcement learning becomes higher as the absolute value of the relative displacement of the seismic isolation body with respect to the support body becomes smaller, and also becomes higher as the absolute value of the absolute acceleration of the seismic isolation body becomes smaller.

(Concept 2)
a passive element that generates a first force that serves as at least one of a restoring force and a damping force in a relative movement between the first object and the second object;
a driving unit that generates a driving force that moves an action position where the passive element applies the first force to the first object relative to the first object;
A control unit that controls the drive unit;
It has
The control unit performs reinforcement learning on control of the drive unit based on information on the vibration of the seismic isolation body,
A vibration adjustment device, wherein a reward in the reinforcement learning becomes higher as the absolute value of the relative displacement of the seismic isolator with respect to the support body becomes smaller, and also becomes higher as the absolute value of the absolute acceleration of the seismic isolator becomes smaller.

(Concept 3)
A method for producing a program used in the seismic isolation system according to the above concept 1,
creating a program for a trained agent by reinforcement learning regarding control of the drive unit based on information on vibration of the seismic isolation body in the first moving direction;
A method for producing a program for a seismic isolation system, wherein the reward in the reinforcement learning becomes higher as the absolute value of the relative displacement of the seismic isolation body with respect to the support body becomes smaller, and the reward becomes higher as the absolute value of the absolute acceleration of the seismic isolation body becomes smaller.

In the above concepts 1 to 3, it is not essential that the characteristics of the seismic isolation system change due to a change in the inclination angle. For example, the change in characteristics may be achieved by moving the position of action in a direction parallel to the direction in which the passive element generates force, as in the case of damping element 39 in Figure 9.

1...seismic isolation system, 3...support structure (an example of a support body and an example of a first object or a second object), 5...seismic isolation object (an example of a seismic isolator and an example of a first object or a second object), 7...isolator, 9...passive element, 11...driver, 21...support member (an example of a support body and an example of a first object or a second object), 22...seismic isolation member (an example of a seismic isolator and an example of a first object or a second object), 25...intermediate member (an example of a support body or a seismic isolator and an example of a first object or a second object), 31...vibration adjustment device, 33...restoring element (an example of a passive element), 39...damping element (an example of a passive element), 41...controller, Df...force direction, θ...tilt angle.

Claims (19)

an isolator that supports a seismic isolation body, which is one of a first object and a second object, so as to be movable in at least a first movement direction relative to a support body, which is the other of the first object and the second object;
a first passive element that generates a first force acting on the first object and the second object in a first force direction, the first force acting as at least one of a restoring force and a damping force in the relative movement between the first object and the second object in the first movement direction;
a first driving unit that generates a driving force by moving a first acting position, at which the first passive element applies the first force to the first object, relative to the first object, thereby changing an inclination angle of the first force direction with respect to the first moving direction;
A control unit that controls the first driving unit;
A seismic isolation system having the above structure. The seismic isolation system of claim 1 , wherein the first passive element includes a restoring element that produces a restoring force in the first force direction. The seismic isolation system according to claim 2 , wherein a moving direction of the first acting position relative to the first object is a direction in which a restoring force of the restoring element in the first force direction becomes smaller as the tilt angle becomes larger. The seismic isolation system according to claim 1 , wherein the first passive element includes a damping element that generates a damping force in the first force direction. The seismic isolation system described in any one of claims 1 to 4, wherein a second acting position at which the first force acts on the second object is always located on the opposite side to the one end or the other end in a direction from one end to the other end of the movable range of the first acting position relative to the first object. The seismic isolation system according to claim 5 , wherein the first drive unit positions the first operating position at a center side of the movable range when no vibration is input to the support body. The seismic isolation body is guided in the first movement direction relative to the support body,
The first drive unit drives the first action position relative to the first object in a first adjustment direction along a plane along the first movement direction and the first force direction,
The seismic isolation system according to claim 1 , wherein the first adjustment direction is perpendicular to the first movement direction. The seismic isolation body is guided in the first movement direction relative to the support body,
The first drive unit drives the first action position relative to the first object in a first adjustment direction along a plane along the first movement direction and the first force direction,
The seismic isolation system according to any one of claims 1 to 7, wherein the first adjustment direction is inclined with respect to a direction perpendicular to the first movement direction in the plane, toward a side on which the inclination with respect to the first force direction is greater than that of the perpendicular direction. The seismic isolation body is guided in the first movement direction relative to the support body,
a second passive element that generates a second force acting on the first object and the second object in a second force direction, the second force being at least one of a restoring force and a damping force in the relative movement between the first object and the second object in the first movement direction;
a second drive unit that generates a drive force by moving a third action position, at which the second force acts on the first object, relative to the first object to change an inclination angle of the second force direction with respect to the first movement direction;
It has
The seismic isolation system according to any one of claims 1 to 8, wherein the first force direction and the second force direction are inclined in opposite directions to each other with respect to a direction perpendicular to the first movement direction. The seismic isolation system according to claim 9 , wherein the first operating position and the third operating position move in conjunction with each other. the isolator supports the seismic isolation body so as to be movable relative to the support body in any movement direction along a plane including the first movement direction,
a second passive element that generates a second force acting on the first object and the second object in a second force direction, the second force being at least one of a restoring force and a damping force in a relative movement between the first object and the second object in a direction along the plane; and
a second drive unit that generates a drive force that moves a third action position, where the second force acts on the first object, relative to the first object;
a third passive element that generates a third force acting on the first object and the second object in a third force direction, the third force acting as at least one of a restoring force and a damping force in a relative movement between the first object and the second object in a direction along the plane; and
a third drive unit that generates a drive force that moves a fourth action position, where the third force acts on the first object, relative to the first object;
It has
The seismic isolation system described in any one of claims 1 to 6, wherein, in a planar view of the plane, a range of movement of the orientation of the first force direction due to movement of the first acting position, a range of movement of the orientation of the second force direction due to movement of the third acting position, and a range of movement of the orientation of the third force direction due to movement of the fourth acting position are located in mutually different angular ranges obtained by dividing 360° into thirds. The first passive element comprises:
a first connecting portion connected to the first object so as to be rotatable about a first rotation axis perpendicular to the first movement direction with respect to the first object;
a second connection portion connected to the second object so as to be rotatable about a second rotation axis parallel to the first rotation axis with respect to the second object;
an element body that is located between the first connecting portion and the second connecting portion and generates the first force with a magnitude corresponding to at least one of a relative position and a relative movement between the first connecting portion and the second connecting portion in the first force direction connecting the first connecting portion and the second connecting portion,
The seismic isolation system according to any one of claims 1 to 11, wherein the first drive unit generates a drive force that moves the position of the first connection unit relative to the first object in a first adjustment direction that is perpendicular to the first rotation axis and intersects the first force direction. The slider may further include a slider that is guided in the first adjustment direction relative to the first object,
The seismic isolation system according to claim 12 , wherein the first connecting portion is connected to the slider so as to be rotatable about the first rotation axis relative to the slider. the control unit performs reinforcement learning on control of the first drive unit based on information about the vibration of the seismic isolation body in the first movement direction,
The seismic isolation system according to any one of claims 1 to 13, wherein the reward in the reinforcement learning becomes higher as the absolute value of the relative displacement of the seismic isolation body with respect to the support body becomes smaller, and becomes higher as the absolute value of the absolute acceleration of the seismic isolation body becomes smaller. The reward is determined based on a table having a plurality of data sets;
Each of the plurality of data sets comprises:
First range information indicating a range of absolute values of a relative displacement of the seismic isolation body with respect to the support body;
Second range information indicating a range of absolute values of the absolute acceleration of the seismic isolation body;
Reward information indicating the amount of the reward,
The range indicated by the first range information, the range indicated by the second range information, and the reward level indicated by the reward information do not overlap among the multiple data sets,
The smaller the lower limit value of the range indicated by the first range information is, the smaller the lower limit value of the range indicated by the second range information is, and the higher the reward indicated by the reward information is,
The seismic isolation system described in claim 14, wherein when a data set exists corresponding to the acquired absolute value of the relative displacement of the seismic isolation body with respect to the support body and the absolute value of the absolute acceleration of the seismic isolation body, a reward of the height indicated by the reward information of the corresponding data set is used, and when no corresponding data set exists, a reward lower than the reward of any data set is used. The seismic isolation system described in claim 14, wherein the reward is determined based on the product of an index value based only on one of two values, the absolute value of the relative displacement of the seismic isolation body with respect to the support body and the absolute value of the absolute acceleration of the seismic isolation body, and which increases as the one value becomes smaller, and an index value based only on the other of the two values, and which increases as the other value becomes smaller. The control unit, in the reinforcement learning, as the vibration information,
Using the relative displacement of the seismic isolator with respect to the support, the absolute acceleration of the seismic isolator, the relative velocity of the seismic isolator with respect to the support, and the relative displacement of the first operating position with respect to the first object,
without using absolute acceleration, velocity and displacement applied to the support and the relative velocity of the first working position with respect to the first object;
The seismic isolation system according to any one of claims 14 to 16. a passive element that generates a first force acting on the first object and the second object in a force direction, the first force being at least one of a restoring force and a damping force in a relative movement in a movement direction between the first object and the second object;
a driving unit that generates a driving force that changes an inclination angle of the force direction with respect to the moving direction by moving an action position where the passive element applies the first force to the first object relative to the first object;
A control unit that controls the drive unit;
A vibration adjustment device having a vibration adjustment mechanism. A method for producing a program used in the seismic isolation system according to any one of claims 1 to 17, comprising the steps of:
a computer creates a program for a trained agent by reinforcement learning regarding control of the first drive unit based on information on vibration of the seismic isolation body in the first movement direction;
A method for producing a program for a seismic isolation system, wherein the reward in the reinforcement learning becomes higher as the absolute value of the relative displacement of the seismic isolation body with respect to the support body becomes smaller, and the reward becomes higher as the absolute value of the absolute acceleration of the seismic isolation body becomes smaller.

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