JPH0711207B2 - Vibration control device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a vibration damping device, and more specifically, to a vibration detected through a sensor provided in a structure and / or the ground of the structure. Accordingly, the present invention relates to a vibration damping device that activates a power device such as an actuator to suppress vibration of a structure.

<< Prior Art >> The methods of applying a force to a structure using the vibration damping device are roughly classified into a fixed reaction force method and an inertial reaction force method. In the fixed reaction force method, a means for lengthening the structure such as laminated rubber and sliding bearings is inserted in the base of the structure, and a power unit such as an actuator is provided between the structure and the ground of the structure. It is a method of applying a reaction force to the ground to apply the force. On the other hand, in the inertial reaction force method, an additional vibrating body and a power unit such as an actuator for driving the additional vibrating body are provided at the top or middle of the structure, and vibration in the direction opposite to the vibration of the structure is applied to the additional vibrating body. This is a method of canceling the vibration of an object.

In the conventional vibration suppressor according to the fixed reaction force method, the force applying section of the power unit is directly connected to the structure, and in the vibration suppressor related to the inertial reaction force method, the force applying section of the power unit is added. The power plant was directly connected to the vibrating body and installed directly on the structure.

<< Problems to be Solved by the Invention >> However, the behavior of a power unit such as an actuator is further delayed with respect to a command signal from a sensor. Although this time delay is very short, when the frequency becomes high, the power plant may not be able to follow this and may be amplified opposite to the vibration suppression. Also, the sensor senses the response of the control force applied to the structure by the power plant,
If a feedback control method that reflects this in the next control force is adopted, it causes oscillation at a high frequency, and the vibration damping effect cannot be obtained.

The present invention has been made in view of the conventional problems as described above, and an object thereof is to prevent a power unit such as an actuator from amplifying the vibration of a structure due to a high frequency, and in a feedback control method. It is an object of the present invention to provide a vibration damping device capable of enhancing the vibration damping effect without causing oscillation.

<< Means for Solving the Problem >> In order to achieve the above object, in the vibration damping device according to the fixed reaction force system of the present invention, a spring is interposed between a structure and a power device such as an actuator. . Further, in the vibration damping device according to the inertial reaction force system, a spring is interposed between a structure and a power device such as an actuator that is directly connected to and drives the additional vibrating body.

<Operation> In the fixed reaction force type vibration damping device, by interposing a spring between the structure and the power unit, the structure targeted for vibration damping is not affected by the high frequency movement of the power unit. This means that the behavior of the structure is not affected by the behavior of the high frequency power plant. This is equivalent to eliminating the controllability of a structure with a high frequency, but this structure has a means for lengthening the structure, such as laminated rubber and sliding bearings, at the base of the structure. Therefore, it is an area that originally has seismic isolation capability for high frequency components and does not require control force for vibration suppression, and this does not cause any problems.

The above operation can be said even when a spring is interposed between the structure and the power unit in the inertial reaction type vibration damping device.

In addition, when feedback control is used, by interposing a spring, the feedback gain and servo amplifier gain determined by the oscillation phenomenon at high frequencies can be made large, and as a result, the control ability and damping effect at low frequencies can be obtained. It is possible to raise.

<Example> Hereinafter, a preferred example of the present invention will be described with reference to the accompanying drawings.

FIG. 1 shows a vibration control device by a fixed reaction force system, where 1 is a structure (building) and 2 is the ground. Laminated rubber 3 is interposed between the structure 1 and the ground 2 at appropriate intervals. still,
In the present invention, in addition to the laminated rubber 3, a sliding support member, a bearing, a soft stream, a magnetic levitation means, etc. can be used as other means for lengthening the structure.

An actuator 4 driven by hydraulic pressure is provided between the lower side surface of the structure 1 on the right side in FIG. 1 and the vertical wall of the ground 2 surrounding the structure 1, and the ground of the structure has an acceleration of seismic motion, A sensor 5 is provided for measuring speed and / or displacement. On the other hand, inside the structure 1, an amplifier 6 that amplifies a signal from the sensor 5, a computer 7 that calculates the signal based on the signal from the amplifier 6,
An actuator control device 8 for controlling the actuator 4 in response to the signal calculated by the computer 7 is provided, and the output signal of the actuator 4 is fed back to the computer 7, which is a feedback control method.

Thereby, when the seismic force is detected by the sensor 5, the signal from the sensor 5 is sent to the computer 7 via the amplifier 6, and the computer 7 calculates the optimum control force corresponding to the seismic force. Next, a control signal from the computer 7 is sent to the actuator control device 8, which drives the actuator 4 and a control force corresponding to the seismic force is applied to the structure 1 to damp the structure. still,
Here, the feedback control method is used, in which the response of the structure 1 resulting from the control by the actuator 4 is detected by the output of the actuator 4, and this is fed back to the computer in order to be reflected in the control force.

According to the present invention, in the vibration damping device of the fixed reaction force type as described above, the force applying portion of the control actuator 4 is provided with the spring 9 having compression elasticity between the force applying portion and the structure 1.

If the pressurizing portion of the control actuator 4 is directly connected to the structure 1, the behavior of the actuator 4 has a time delay with respect to the control signal when a high-frequency earthquake motion occurs. , The situation occurs in which this behavior is in the opposite direction to damping. However, by interposing the spring 9 as described above, even if the actuator 4 behaves in the direction opposite to the damping as described above, the behavior of the structure is not affected by the behavior of the actuator having a high frequency.
However, this is equivalent to eliminating the controllability of the actuator with respect to a high-frequency earthquake input, but the structure is made longer by the laminated rubber 3 etc. This is an area that has seismic isolation capability and does not require control force for damping, and this does not hinder. Further, if the actuator 4 is directly coupled to the structure 1, it will cause oscillation when the feedback control method of sensing and controlling the response of the structure is adopted as in the above-mentioned embodiment. Spring 9 as in the embodiment
With the interposition of, the feedback in and the servo amplifier gain determined by the oscillation phenomenon at the high frequency can be made large, and as a result, the control ability at the low frequency and the damping effect can be enhanced. .

FIG. 2 shows a vibration damping device according to the inertial reaction force method of the present invention.
In this embodiment, the structure 1 is constructed directly on the ground 2, and an additional vibrating body 10 is provided on the roof of the structure so as to be movable by rollers 11. A control actuator 4a is provided in the vicinity of the additional vibrating body 10. The pressurizing portion of the actuator 4a and the additional vibrating body 10 are directly connected to each other, and the compression elasticity is provided between the structure 1 and the actuator 4a. The spring 9a having the above is interposed. The actuator 4a is connected to the computer 7a in the structure, and the computer 7a is connected to the seismic motion sensor 5a installed in the structure.

When this is detected by the seismic force sensor 5a, the signal from this sensor 5a is sent to the computer 7a,
The computer 7a calculates an optimum control force corresponding to the seismic force, sends this control signal to the actuator 4a, and the actuator 4a operates to move the additional vibrating body 10 in a direction to cancel the seismic force.

Here, if the actuator 4a is directly coupled to the structure 1, when a high-frequency earthquake motion occurs, the behavior of the actuator 4a has a time lag with respect to the control signal, and this behavior causes vibration suppression. The situation occurs in the opposite direction. However, since the spring 9a is interposed between the actuator 4a and the structure 1 as described above, the actuator 4a
Even when the vehicle moves in the direction opposite to the vibration suppression, the behavior of the structure 1 is not affected by the behavior of the actuator having a high frequency.

Although the additional vibrating body is provided at the top of the structure in the above embodiment, it may be provided at the middle.

Further, in both of the above embodiments, the seismic force sensor may be provided on either the structure or the ground.

Furthermore, in the above-described embodiment, the sensor detects a seismic motion that is an input to the structure, the feedforward control method that reflects this in the control force, and the sensor response of the controlled result are detected by the sensor. It is applied to both of the feedback control methods that are reflected in the following control force, but it is also applicable to a combined method that takes advantage of the advantages of both.

<Effects> As described above, when a spring is interposed between a structure and a power unit such as an actuator in a fixed reaction force type vibration damping device, or in an inertial reaction type vibration damping device, it is directly connected to an additional vibrating body. In any case where a spring is interposed between the power unit such as the actuator and the structure, even if the power unit that tries to follow the seismic motion of high frequency behaves in the direction opposite to the damping direction, The effect can be mitigated and the vibration damping effect can be enhanced.

Further, in the case of the feedback control method in which the response of the structure is sensed and controlled, it is possible to prevent oscillation and enhance the control ability at low frequency and the damping effect.

[Brief description of drawings]

FIG. 1 is a schematic side view showing a fixed reaction force type vibration damping device according to a first embodiment of the present invention, and FIG. 2 shows an inertial reaction force type vibration damping device according to a second embodiment of the present invention. It is a schematic side view. 1 ... Structure, 2 ... Ground 3 ... Laminated rubber 4,4a ... Actuator, 5,5a ... Sensor 7,7a ... Computer 9,9a ... Spring, 10 ... Additional vibration body

Front Page Continuation (72) Inventor Juichi Takeda 4-640 Shimoseido, Kiyose-shi, Tokyo Inside Obayashi Technical Research Institute Co., Ltd. (72) Inventor Tetsuo Suzuki 4-640 Shimoseido, Kiyose-shi Tokyo Metropolitan Research Institute Inc.

Claims (2)

[Claims] 1. A structure, such as a laminated rubber or a sliding bearing, is inserted into the base of a structure to extend the structure, and a power unit such as an actuator is provided between the structure and the ground of the structure. In a device that is provided and suppresses vibration of the structure by activating the power device according to vibration detected through a sensor provided in the structure and / or the ground, A vibration damping device having a spring interposed therebetween. 2. A sensor provided on the structure or on the ground of the structure, wherein an additional vibrating body and a power unit such as an actuator for directly driving the additional vibrating body and driving the additional vibrating body are provided at the top or middle of the structure. A vibration damping device characterized by comprising a spring interposed between the power unit and the structure in a device for suppressing the vibration of the structure by activating the power unit according to the vibration detected via the apparatus.