JPH0819780B2 - Vibration control method and device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Field of Industrial Application> The present invention relates to a ground displacement input to a structure when damping a long-periodic structure by a damping force applied from a power means such as an actuator. The present invention relates to a vibration damping method and device for detecting a ground motion speed in advance and controlling power means based on the displacement and speed.

<< Conventional Technology >> Various vibration control methods have been devised for controlling the shaking of structures against earthquake motions and the like. For example, the power of an actuator or the like that expands and contracts in the direction of ground motion between the structure and the ground supported through a lengthening means such as an isolator made of laminated rubber on the ground or a sliding bearing composed of rollers. It was thought to provide a means to this means for generating a damping force in the direction opposite to the seismic motion, to insulate the structure from the moving ground and to keep the structure at a constant position as much as possible. Vibration control mechanism is known (Abstracts of Scientific Lectures at Architectural Institute of Japan (Kinki)
(October 1987) p.905-906 etc.).

Here, the applicant of the present invention relates to the coupling structure between the power means and the structure or the ground in the vibration control mechanism, and the oscillation of the control system when the operation delay of the power means with respect to the transmitted control signal or the feedback control is adopted. Etc.,
It is considered that a vibration damping device is constructed by attaching elastic means to the power means in the power transmission direction.

That is, the power means causes an extreme operation delay with respect to the transmitted control signal, particularly the high frequency component in the signal, but when the power means and the structure are directly coupled, the operation of the power means is delayed. Is not damping, but on the contrary there is a risk of amplifying the vibration of the composition. On the other hand, when the elastic means is attached, the behavior of the power means corresponding to the high frequency component can be cut by the elastic means, and even if the power means acts in the opposite direction to the vibration suppression, the behavior of the elastic means can be controlled by the elastic means. It is possible to suppress the adverse effect of the operation delay of the power means.

Further, in the feedback control, if the feedback signal detected from the structure and used for the control contains a high frequency component, it causes oscillation of the control system, but it is detected in the structure by the intervention of the elastic means. It is possible to cut high-frequency components from the signal, improve control stability, and allow the power means to exert a sufficient damping effect.

By providing the elastic means in this way, the vibration of the structure is amplified by the power means which should respond to the high-frequency component contained in the control signal and impart the damping force,
We are considering a vibration damping mechanism that can prevent the power unit from failing to exert a sufficient vibration damping action due to the oscillation of the control system.

<< Problems to be Solved by the Invention >> However, in the vibration system in which the elastic transmission means is interposed in the force transmission system of the power means in which the seismic force and the damping force interact with each other in this manner, the elastic transmission means is not provided. Unlike the vibration system, a preferable vibration damping effect cannot be obtained unless the power means is properly controlled in consideration of the presence of the elastic means. For this reason, it is desired to devise an appropriate vibration damping control method and its device in a vibration system including such elastic means.

An object of the present invention is to provide a force transmission system of a power means with which a seismic force and a vibration damping force interact with each other, so as to suppress a long-period structure with a vibration damping force applied from the power means. Another object of the present invention is to provide a vibration damping control method and apparatus suitable for a vibration system including an elastic means.

<< Means and Actions for Solving the Problem >> The present invention has a resilient means that resiliently pushes a structure supported on the ground through a lengthening means in the force transmission direction, and relatively displaces each other. When damping by the power means that is driven to expand and contract between these structures and the ground and transmits the damping force to the structures, the ground displacement and ground velocity of the ground are detected in advance, and these ground displacement and ground velocity are calculated. According to the following formula, the expansion / contraction displacement amount of the power means is feedforward controlled.

formula z: Expansion / contraction displacement of power means: Ground motion velocity y: Ground motion displacement c: Damping coefficient peculiar to the structure k: Elastic coefficient of elastic means Ka: Elastic coefficient of elastic means And elastic coefficient By controlling the expansion and contraction displacement amount of the power means in a form including the elastic coefficient of the elastic means, the vibration suppression control of the power means is performed while utilizing the elastic means.

Further, the present invention is provided between the ground and a structure supported on the ground through a lengthening means, and the structure is controlled by expanding and contracting between the ground and the structure which are displaced relative to each other. Power means for transmitting vibration force, elastic means attached to the power means and elastically in the direction of force transmission, detection means for detecting ground displacement and ground velocity of the ground, and power in response to a detection signal from the detection means. Control means for performing feed-forward control of the expansion / contraction displacement amount of the means, and the vibration suppression control is performed with the expansion / contraction displacement of the power means as the control target.

<< Examples >> Hereinafter, preferred examples of the present invention will be described in detail with reference to the accompanying drawings.

As shown in the figure, on the ground 2 in which the recesses 1 are defined and formed, the structures 4 are continuously provided in the recesses 1 through the lengthening means 3, and the structures 4 are the lengthening means 3. It is composed of a long period. In the present embodiment, as the lengthening means 3, a plurality of laminated rubbers having an appropriate height and arranged in the recess 1 at intervals are illustrated. The lengthening means 3 is not limited to the laminated rubber, and a sliding support material, a bearing, a soft strip, a magnetic levitation means, etc. may be adopted.

Between the structure 4 and the ground 2 configured in this way,
A power unit 5 such as a hydraulic cylinder is provided which is driven to expand and contract between the structure 4 and the ground 2 which are displaced relative to each other in the event of an earthquake to transmit a damping force to the structure 4.
Specifically, the power means 5 is provided substantially horizontally between the vertical wall 1a of the recess 1 on the ground 2 side that is relatively displaced and the lower layer portion of the structure 4 facing the vertical wall 1a. Further, a plurality of the power means 5 are arranged around the structure 4 at intervals.
It is able to cope with earthquakes of various directions.

The power means 5 is fitted with a resilient means 6 such as a spring that resiliently moves in the force transmitting direction. In the illustrated example, the elastic means 6 is mounted between the power means 5 and the structure 4, but if it is in the force transmission direction, the power means 5 and the recess vertical wall 1a on the ground 2 side May be between.
The elastic means 6 is driven by the power means 5 in response to the high frequency component contained in the control signal so that the vibration of the structure 4 is amplified by the power means 5 which should give a damping force, or by the oscillation of the control system. It serves to prevent the means 5 from failing to exert sufficient damping action.

On the other hand, on the ground 2 side, a detection means 7 for detecting the ground motion displacement and ground motion velocity of the ground at the time of earthquake is arranged. A control means 9 such as a computer is connected to the detection means 7 via an amplifier 8 for amplifying the detection signal. The control means 9 is connected to the power means 5 and has a function of feedforward controlling the expansion / contraction displacement amount of the power means 5 in accordance with the detection signal from the detection means 7. The amplifier 8 and the control means 9 may be installed in the structure 4 as shown in the drawing or on the ground 2 side.

Here, the point that the ground displacement and the ground velocity are adopted as the detection amount of the detection means 7 and the point that the expansion and contraction displacement amount of the power means 5 is adopted as the control amount of the control means 9 will be described.

The basic vibration equation in the case of suppressing the shaking of the structure 4 due to the ground motion at the time of an earthquake by applying the control force of the power means 5 to the structure 4 supported by the period lengthening means 3 is as follows. Is expressed as

m + c + kx = -m + F (1) m: mass peculiar to the structure 4 c: damping coefficient peculiar to the structure 4 k: elastic coefficient of the lengthening means 3: relative acceleration of the structure 4 with respect to the ground 2: structure 4 Relative velocity of the structure 4 with respect to the ground x: Relative displacement of the structure 4 with respect to the ground 2: Ground acceleration F: Control force of the power means 5 Since the force transmission system of the power means 5 is provided with the elastic means 6, , The contents of the control force F of the power means 5 of the formula (1) can be rewritten as follows.

F = ka (z−x) (2) ka: Elasticity count of elastic means z: Expansion / contraction displacement of power means Here, the equation (2) is substituted into the equation (1). At this time, when the ground motion displacement y and the relative displacement x of the structure 4 with respect to the ground 2 are superposed, the absolute response displacement and absolute response speed with respect to the stationary system (absolute system) are arranged as follows.

m (+) + c (+) + (k + ka) (x + y) = c + (k + ka) y + kaz (3) In the expression (3) expressed as above, the left side represents the vibration characteristics of the absolute system having the above structure, The right side is the content of the external force. Then, in order for the absolute response of the structure 4 to become zero, the content of the right side, that is, the term of the external force, should be zero.
In other words, if the external force term becomes 0, the absolute response of the structure 4 becomes 0.

Therefore, when the equation (3) is set to the right side = 0 and the equation is rearranged by the expansion / contraction displacement amount z of the power unit 5, it is expressed as follows.

In this way, in the vibration system in which the elastic means 6 is newly provided in the force transmission system of the power means 5 where the earthquake land and the damping force interact, the newly derived expression (4) is applied to the control means 9. By using the ground displacement y and the ground velocity as the detection amount of the detection means 7 as a control function to control the expansion / contraction displacement amount z of the power means 5, the presence of the elastic means 6 is taken into account, An appropriate damping control signal can be output to the power means 5 while making the means 6 exert its function, and an excellent damping effect can be obtained.

Regarding the above equation (4), when the damping coefficient c peculiar to the structure 4 is extremely smaller than the resilience coefficient ka of the resilience means 6, the value of c / ka is neglected, and therefore in terms of control. You may omit it.

Further, the detecting means 7 for detecting the ground motion displacement y and the ground motion velocity
May be configured with a displacement meter and a speedometer that detect these values independently of each other, or a single speedometer may be installed and the ground motion velocity detected by this speedometer may be integrated to detect the ground motion displacement y. It may be done.

With respect to the fact that the expansion / contraction displacement amount z of the power unit 5 is adopted as the control amount of the control unit 9, the control amount when controlling the power unit 5 such as a hydraulic cylinder is the displacement amount and the displacement speed. ， There is displacement acceleration. On the other hand, there is also a method of installing a load cell or the like between the power unit 5 and the structure 4 to control the acting force generated by the power unit 5. When a hydraulic cylinder, for example, is adopted as the power means 5, the operation is performed by controlling the valve. This valve control is for adjusting the inflow amount of oil, and since the inflow amount corresponds to the displacement speed of the hydraulic cylinder, this valve control is performing displacement speed control of the hydraulic cylinder. Therefore, in such a case, the control means 9
It is the most direct and simple to set the controlled variable by the displacement speed of the power means 5, and this speed control is generally performed. However, as a general idea of the control system, the displacement control is the most stable because it hardly causes oscillation of the control system. That is, considering the speed control as a reference, the acceleration control has a differential control relationship with the speed control, and if the power means 5 can react quickly, excellent followability is exhibited, but stability is poor and oscillation is generated. It is a control system that is easy to cause. Further, the control system for force control is unstable because it easily oscillates like the acceleration control. On the other hand, the displacement control has an integral control relationship with the speed control, and is excellent in stability and hardly causes oscillation.

In this damping control, by introducing the expansion / contraction displacement amount z of the power means 5 into the control formula in deriving the new control function described above, the control of the power means 5 can be achieved by this displacement control. By adopting this highly stable displacement control in the vibration damping method described above, it is possible to achieve even more excellent vibration damping.

Further, in the present vibration control method and device, the feedforward control is performed in which the ground motion before the structure 4 starts to be shaken by the seismic motion is detected in advance, and therefore the oscillation of the control system is also observed from this aspect. It is configured to not happen.

Then, as described above, the structure 4 supported on the ground 2 through the lengthening means 3 has elastic means 6 for elastically moving in the force transmitting direction, and these structures 4 are displaced relative to each other. When the vibration is suppressed by the power means 5 that is driven to expand and contract between the ground and the ground 2 to transmit the vibration damping force to the structure 4, in the vibration damping method of the present invention, the ground displacement y and the ground velocity of the ground 2 are used. Is detected in advance, and the expansion / contraction displacement amount z of the power means 5 is feedforward-controlled by the above equation (4) according to the ground displacement y and the ground velocity.

<< Effects of the Invention >> In short, according to the vibration damping method and the device thereof related to the present invention, in the vibration system in which the elastic means is newly provided in the force transmission system of the power means in which the seismic force and the vibration damping force interact, The vibration equation newly derived in a form including the elastic coefficient of the generating means is used as the control function of the control means, and the displacement of the power means is controlled by using the ground displacement and the ground velocity as the detection amount of the detecting means. By doing so, it is possible to output an appropriate damping control signal to the power means while allowing the resilient means to exert its function, taking into account the existence of the resilient means, and to obtain an excellent damping effect. it can.

In addition, by introducing the displacement amount of the power means into the control formula in deriving the new control function described above, the control of the power means can be achieved by this displacement control, and this highly stable displacement control can be used as the vibration suppression control. By adopting it, it is possible to achieve even more excellent vibration suppression.

Furthermore, feed-forward control is employed in which ground motion before the structure starts to shake due to seismic motion is detected in advance. From this aspect as well, oscillation of the control system is suppressed and control stability is achieved.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a preferred embodiment of a vibration damping device according to the present invention. 2 ... Ground, 3 ... Lengthening means, 4 ... Structure, 5 ... Power means, 6 ... Repulsion means, 7 ... Detection means, 9 ... Control means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshikazu Takeda 4-640 Shimoseido, Kiyose-shi, Tokyo Inside Obayashi Technical Research Institute, Inc. (72) Inventor Tetsuo Suzuki 4-640 Shimoseido, Kiyose-shi, Tokyo Obayashi Engineering Research In-house (72) Inventor Taro Sekimatsu 4-640 Shimoseido, Kiyose-shi, Tokyo Inside Obayashi Technical Research Institute Co., Ltd.

Claims (2)

[Claims] Claim: What is claimed is: 1. A structure, which is supported on the ground through a lengthening means, has elastic means for elastically moving in the force transmitting direction, and the structure and the ground are displaced relative to each other. When damping by the power means that is driven to expand and contract and transmits the damping force to the structure, the ground displacement and ground velocity of the ground are detected in advance, and the expansion and contraction displacement of the power means is calculated by the following formula according to these ground displacement and ground velocity. A vibration damping method characterized in that the quantity is feed-forward controlled. formula z: Expansion / contraction displacement of power means y: Ground motion velocity y: Ground motion displacement c: Damping coefficient peculiar to the structure k: Elastic coefficient of lengthening means Ka: Elastic coefficient of elastic means 2. The ground is provided between the ground and a structure supported on the ground through a lengthening means, and the ground and the structure which are displaced relative to each other are driven to expand and contract. Power means for transmitting a damping force to the structure, elastic means attached to the power means and elastically in the force transmission direction, detecting means for detecting ground displacement and ground velocity of the ground, and detecting means from the detecting means. A vibration damping device, comprising: a control unit that feed-forward-controls an expansion / contraction displacement amount of the power unit according to a detection signal.