JPH0348036A - Structure vibration damping device - Google Patents

Abstract

PURPOSE:To perform rapid suppression of the swing of a structure by a method wherein an actuator to vertically rock a rail bed is connected to the end part of the rail bed. CONSTITUTION:When, through drive of an actuator 10, a rail bed 7 is vertically rocked like a seesaw, a weight 9 on a rail 6 of the rail bed 7 is reciprocatively moved over the vertically inclining rail 6 to exert the reaction force of the accelerating weight 9 on a structure 1. When the swing of the structure 1 is detected by a swing detecting sensor 3, phase control is applied on a signal therefrom by means of a phase control device 11. When the signal is inputted to an actuator 10, a reaction force on movement of the weight 9 is exerted in an optimum state on the structure 1 to rapidly suppress the swing of the structure 1.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is installed on the top of structures such as suspension bridge towers, skyscrapers, towers, and steel towers to prevent vibrations caused by wind loads (aerodynamic forces) of these structures. , relates to a structure control membrane device used to suppress the vibration amplitude caused by an earthquake and attenuate imaging at an early stage.

[Prior Art] Conventionally, this type of structural vibration damping device includes a detection means for detecting the amount of vibration of a vibrating object, and a detection means for detecting the amount of vibration of a vibrating object, as disclosed in, for example, Japanese Unexamined Patent Publication No. 80-92569. A vibration control device comprising a drive device that applies a control force to a vibrating object corresponding to the amount of vibration detected by the vibration control device, and an additional mass that achieves force balance when applying the control force to the vibrating object. JP-A No. 6, 1997, comprising a stopper that restricts excessive movement of the mouth mass and a buffer member that absorbs the impact force of the additional mass on the stopper.
As shown in Publication No. 0-92570, an additional heavy plow driving device is installed in a structure, the vibration of the structure is detected by a vibration detector, and a control circuit generates a control signal based on this detection signal. This signal is used to control the driving of the additional weight drive device to control the vibration of the structure, which is composed of an earthquake motion detector installed on the ground and a logic circuit. JP-A-59-97341, which is equipped with a predictive sensor and uses its output to supply power to the additional weight drive device to enable vibration damping control.
As shown in the publication, an additional weight is movably placed on the floor or ceiling of a structure, and an actuator for driving the additional weight has a stationary part fixed to the floor or ceiling. A control unit that operates an actuator, a vibration detector attached to a structure to detect imaging of the structure, a vibration detector attached to the ground of the structure to detect vibrations in the ground, A subtraction circuit that subtracts a detection signal of a ground motion detector from a detection signal of a radial motion detector and inputs the result to a control unit;
As shown in Publication No. 5, an additional weight drive device is installed in the structure, and the above-mentioned material 1) f + serious crime drive device actuator is driven based on the signal from the vibration detector that detects the vibration of the structure. In this configuration, there is a configuration in which a bandpass filter is connected between the vibration detector and the additional manual insertion drive device.

[Problem to be solved by the invention] However, the structure disclosed in JP-A No. 60-92569 has a complicated structure because it has a stopper, etc. The control device disclosed in JP-A-59-97341 is complicated because it has an earthquake motion detector on the ground, and the control device disclosed in JP-A-59-97341 requires a noise reduction device, so it requires a motion detector or multiple sensors. However, the method disclosed in Japanese Unexamined Patent Application Publication No. 60-85765@ requires a bandpass filter and therefore requires an extra circuit. In addition, each of the conventional methods described above lacks specific means for how to control the driving body, and furthermore, it is difficult to determine the phase relationship between the imaging of a structure and the specific movement of the driving body of the single imaging device. is not clear.

Therefore, the present invention solves the above-mentioned problems, and uses a simple circuit configuration to maximize the kinetic energy of the weight to the structure, transfer the kinetic energy from the structure, and change the phase of the weight to the structure. The aim is to reduce the vibration of the structure by controlling it to be optimal.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a structure in which a rail stand provided with a rail on the upper surface of the structure swings up and down like a seesaw. The center part is rotatably supported, a weight is movably placed on the rail of the rail base, and the rail base is mounted on the end of the rail base to swing the rail base in the vertical direction. The configuration consists of connecting two actuators.

Further, a vibration detection sensor for detecting vibration of the structure is provided on the top of the structure, and a control device is provided which controls the phase of the signal from the vibration detection sensor and sends a drive command to the actuator.

[Operation] Drives the actuator to move the rail stand like a seesaw.
When the structure is swung downward, the weight on the rail of the rail base moves back and forth on the vertically inclined rail, and the reaction force of the accelerating weight is applied to the structure. When the shaking of the structure is detected by the shaking detection sensor, the phase of the signal is controlled by the phase control device and then applied to the actuator, which generates a reaction force against the movement of the weight or the optimum state for the structure. given, the shaking of the structure can be quickly suppressed.

[Example] Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an embodiment of the present invention applied to a structure 1 such as a suspension bridge tower, in which a vibration damping device main body 2 and a vibration detection sensor 13 are attached to the top of the structure 1. As shown in detail in FIGS. 2 and 3, the vibration damping device main body 2 has mounting frames 4 having a required height installed on the top of the structure 1 facing each other at a required interval, and Rail 6 along the longitudinal direction
A rail stand 7 equipped with the above-mentioned rail stand 7 is arranged between the upper ends of each of the above-mentioned stands 4, and the center part of the rail stand 7 is rotatably supported by the upper end of the stand 4 by a horizontally disposed support shaft 5. , the above rail stand 7
can be swung up and down using the support shaft 5 as a fulcrum, as shown in the scene, and the rail 6 of the rail stand 7
A damping weight 9 made of a truck is mounted on the top so as to be movable via wheels 8, and the plow 9 can move on the rail 6 via the wheels 8 when the rail base 7 swings. do it like this. or,
An actuator 10 for swinging the rail stand 7 like a seesaw is provided at one end of the rail stand 7, and by driving the actuator 10 and swinging the rail stand 7 about the spindle 5, the above-mentioned A truck serving as a weight 9 can be moved in the longitudinal direction of a rail stand 7 along a rail 6. Further, the vibration detection sensor 3 is attached to the upper side of the structure 1 to detect vibration of the structure 1, and furthermore, in the present invention, the vibration of the structure 1 detected by the vibration detection sensor 3 is A control device 11 that converts a shaking signal into a displacement signal to calculate the amount of operation of the actuator 10 and emits the displacement signal and a phase delayed by 90 degrees with respect to the shaking of the structure 1; The configuration includes a drive unit 12 that drives the actuator 10 based on the signal, and by arbitrarily controlling the phase of the reciprocating movement of the heel 9 in response to the shaking of the structure 1 using the driving force of the actuator 10, the shaking of the structure 1 is suppressed. This is to suppress the vibration within the permissible shaking range and to consume the shaking energy of the structure 1. In this embodiment, an acceleration sensor is used as the vibration detection sensor 3, and a control w is used to control the phase and displacement.
In the J device 11, the acceleration is integrated twice to generate a displacement signal, but it is also possible to integrate the acceleration once to generate a speed signal, and use the speed signal as an inverted signal as the displacement signal of the weight 9. In addition, in the case of the control block shown in FIG. 2, which is an interloop control, the position of the movement of the weight 9 is detected, and the detected position is fed back to the drive unit 12 and compared with the control signal of the control device 11. , it is also possible to perform closed-loop feedback control to correct the deviation.

The present invention attempts to minimize the shaking of the structure 1 by controlling the phase and displacement caused by the movement of the weight rather than the phase and displacement of the shaking of the structure 1.
Now, using a simple model shown in FIG. 4, we will explain what kind of phase/displacement control should be used to suppress the shaking of a structure. In FIG. 4, reference numeral 13 denotes an imaging table vibrated by the actuator 14, and 75 denotes a specimen movably placed on the vibration table 13 (structure 1 in FIG. 1).
), 16 is a weight (corresponds to hammer 9 in Figure 2), 1
7.18 is covered with a bracket. Now, the aerodynamic force (wind load) acting on the specimen 15 is P, the mass of the specimen 15 is M,
The line spring constant of the specimen 15 is K, the damping coefficient (additional damping constant: 2Mhω) of the specimen 15 is C1, the horizontal linear displacement m (absolute coordinates) of the specimen 15 is X, and the mass of the weight 16 is m, the spring constant of the weight 16 is k, the control force that controls the vibration of the weight 16 is p, and the amount of linear displacement of the weight 16 in the horizontal direction (relative coordinate with respect to the sample 15) is X. 1
The equation of motion of 5 and weight 16 is MX+CX+KX+m(
X+M)=Pci+sωt ・(1) (ω: number of unique images, t: time) mX+mM +kx=p (t)
-(2) Here, assuming that the specimen 15 and the weight 16 are in single chord motion, X = As old ωt
°”°gu3〉(A: amplitude) x=3sin (ωt+cr)
-(4>(B: amplitude, α: phase difference with respect to ωt) At this time, between the spring constants K and k and the specimen 15 and weight 16, K - (~1+m) ω2
...ku5) k=mω2
・
...There is the relationship shown in 6). Therefore, <3) formula and (
4) In the equation, the term including the amount of N and the spring constant is always zero as shown below.

(M+rT1)X+KX-1(M10m)Aω2stnω
10(M+m) Aω2sinωt=o
−<7>mfather+kx−−mBω2sln(ωt+α) 10mBω2sin(ωt+α) −Q −<
8) Substituting equations (7) and (8) into equations (1) and (2), Pcosωt=CX+mx =2MhAω2 C05(1)t −mBω2 s+n
(ωt +α) ・<9)p (t)=mX=
−mAω2 s old ωt ,・,(1
0) Here, equation (9) indicates that the force due to the damping of the specimen 15 and the movement of the weight 16 is balanced with the aerodynamic force P when the phases of the first and second terms on the right side are the same. It shows. That is, the movement of the weight 16 is 9% relative to the movement of the specimen 15.
It can be seen that when operating with a delay of 0° (-90'), the force moves in the same direction as the damping of the specimen 15 and attempts to stop the vibration. Therefore, if we rewrite equation (9) with α=-90°, PCO5ωt=2MhAω2mBω2C
os(1)t=(2MhA+mB) ω2cosωt
・(11) becomes. Also, the amplitude B of the plow 16 is (11)
From the formula, m-8=(P/ω2)-2MhA −
(12).

What is clear from these equations is that this holds true whether the vibration damping device is an active type or a passive type, so the force p(t) shown in equation (10) is the controlling force in the case of an active type, In the case of a passive type, it can be thought of as a force that is attenuated.

The formula for the above-mentioned principle can be expressed as follows.

■ The force of the damping device that tries to suppress the imaging of the structure is increased by 1 due to the movement of the mass of the damping device.

■ Stable vibration can be achieved by applying a control force or damping force to the vibration damping device, which has the same magnitude and opposite direction as the force entering the structure.

From the above, it can be seen that it is sufficient to provide a phase difference of 90' between the displacements of the plows 9 of the structure 1 and the damping device main body 2. That is, it is sufficient to move the plow 9 with a phase delay of 90'' relative to the phase of the shaking of the structure 1.

Next, the principle of vibration damping control by the structure vibration damping device of the present invention will be explained with reference to the model diagram of FIG. 5 and FIG. 2.

In order to form a seesaw shape, the rail 6 has a fulcrum S formed by a support shaft 5 at one point in the center, and a 1 m long plow 9 is movably placed on the rail 6 as a trolley. An actuator 10 is mounted on one end so that the angle of the rail 6 can be changed up and down by the actuator 1o. The stroke V(t) of the actuator 1o can be changed mainly as a function of time.

Now, the distance that the hammer 9 moves is B, and the angular frequency of the weight 9 is ω
, the vibration frequency is N (=ω/2π), and the required spring coefficient is k (=
mω2 ), the displacement point of the plow 9 is x (= 3 sin ωt, making it a sine wave movement), the spring reaction force at the displacement point X of the plow 9 is F + (= k x = mω2 X), the plow 9 is B
The angle made with the horizontal at the point is θ, the restoring force of the plow 9 at the displacement point If the distance is y and the distance from the rail 6 to the center of gravity G of the plow 9 is h, then F,=F2.

Next, the control force p(t
) Find the magnitude of.

The moment with respect to the fulcrum S is as follows (however,
x=13s old ωt).

←) The moment due to gravity is M+ = mg φBs+nωt (to) The moment due to acceleration is M2 = m-ω2-Bstn Cot ・ Cy
(t) ±h] Here, p(t)+ is the moment divided by the distance ρ from the point where the control force is applied to the position. Therefore, .

On the other hand, the force applied to the weight 9 is also generated due to the shaking of the structure 1, so this force is determined. Here, the displacement of structure 1 (
Assuming that the linear displacement) is X, the amplitude of structure 1 is △, and the displacement of structure 1 is 90 degrees ahead of weight 9, then X = ACOSωt X = -△ω2CO3 (1) t M3°mAω2CO5ωt <y+il) Therefore, the total control force pat> is f;) (t) =p('j)+ +11) ('j
) becomes 2. p(t) determines the ability of the actuator.

In this way, if the shaking (amplitude) A of the structure can be detected,
Since the moving distance B of the weight 9 can be calculated, phase/displacement discrimination can be performed so that the actuator 10 can be moved using the stroke value y(t) at that time to obtain the distance B. In addition,
Although not shown, the moving distance B of the weight 9, that is, the stroke, can be detected by a potentiometer or the like.

Therefore, when the structure vibration damping device of the present invention is installed on the top of the structure 1 and shaking occurs in the structure 1 and the shaking is detected by the shaking detection sensor 3, the signal is The signal whose phase and displacement are controlled based on the control device 1
1 to the drive unit 12, the actuator 10 is driven and the rail base 7 is swung, so that the weight 9 is reciprocated on the rail 6 with a delay of 90 degrees relative to the sway of the structure 1. .

Since the force P that induces photography on the actual structure is unknown, B is set to several times the shaking (amplitude) A of the structure, and when the amplitude A becomes even larger, B is increased. If it tends to become smaller, reduce B. As a result, the force that suppresses the vibration of the weight 9 can be optimally applied to the structure, and the shaking of the structure 1 can be quickly suppressed, as well as responding to changes in the natural frequency of the structure 1. be able to. Further, in this case, since it is a seesaw type that utilizes gravity, the energy required to accelerate the weight 9 is small, and the power used to drive the actuator 10 can be reduced.

In the above embodiment, the actuator 10 is installed only at one end of the rail stand 7, but the rail stand 7
In addition, in the embodiment, an example of application to a structure 1 such as a suspension bridge tower is illustrated; It goes without saying that the invention can be similarly adopted, and that various changes can be made without departing from the gist of the invention.

U Effect of the Invention 1 As described above, according to the structure vibration damping device of the present invention, it is possible to optimally apply the force to suppress the vibration of the weight to the structure, so that the shaking of the structure can be quickly suppressed. In addition, it can respond to changes in the specific number of motions of the structure, and because the control system is simple, it is inexpensive and easy to maintain.Furthermore, because it is a seesaw type that uses gravity, It has excellent effects such as requiring less energy to accelerate and saving labor.

[Brief explanation of drawings]

Fig. 1 is a schematic diagram showing the structure vibration damping device of the present invention applied to a structure such as a suspension bridge tower, Fig. 2 is a front view showing the structure of the vibration damping device main body, and Fig. 3 is a schematic diagram showing the structure of the vibration damping device main body. Side view of the figure,
Fig. 4 is a model diagram showing the basic principle of damping control, Fig. 5 is a model diagram showing the principle of the device of the present invention, and Fig. 6 is a diagram showing the case where the present invention is applied to a structure such as a high-rise building. FIG. DESCRIPTION OF SYMBOLS 1... Structure, 2... Vibration damping device main body, 3... Shaking detection sensor, 5... Support shaft,... Rail,... Rail stand,... Weight, 10. ...actuator, 11...control device. Patent applicant Ishikawajima Harima Heavy Industries Co., Ltd. Figure 1 Figure 2 Figure 6 Figure 3

Claims (2)

[Claims] (1) At the top of the structure, a rail stand with a rail on the top surface is rotatably supported in the center of the rail stand so that it swings up and down like a seesaw, and the center part of the rail stand is rotatably supported on the rail of the rail stand. , a structure vibration damping device comprising: a weight movably mounted; and an actuator connected to the end of the rail platform for vertically swinging the rail platform. . (2) A control device according to claim (1), further comprising: a vibration detection sensor for detecting vibration of the structure provided on the upper part of the structure; and a control device that controls the phase of the signal of the vibration detection sensor and sends a drive command to the actuator. structure vibration damping device.