JPH054515B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention relates to an active vibration damping device installed in a building in order to reduce vibrations generated in the building due to external forces such as earthquakes and wind. It provides the power to control vibrations to deal with them.

[Conventional technology]

The applicant is JP-A-62-268478 and JP-A-63-
In Publication No. 78974, etc., a vibration control device consisting of an additional mass and an actuator is installed at the top of a building, etc., and when the building receives an external force such as an earthquake or wind, the additional mass is reduced by controlling the operation of the actuator. This disclosure discloses an active vibration control device that applies a force to the building body to control vibration by taking a reaction force from a weight.

Figure 2 shows an outline of the active damping system as described above.For example, it is installed on the top of a building 1, substantially separate from the building 1, and has a weight 2 as an additional mass.
is provided, and an actuator 3 is interposed between the weight 2 and a part of the building 1. When vibrations occur in building 1 due to earthquakes, wind, etc., the vibrations are transferred to building 1.
The sensor 7b installed in the building 1 senses the vibration, sends a signal to the control circuit, sends an output signal corresponding to the vibration of the building 1 to the servo valve connected to the actuator 3, and controls the actuator 3. In addition, by providing the sensor 7a also on the actuator 3 side,
The movement of the actuator 3 can be controlled by feedback. Although the above is closed-loop control, it can also be combined with open-loop control, in which the building's response is predicted and controlled by analyzing seismic waves sent from wide-area and narrow-area seismometers.

[Problem to be solved by the invention]

By the way, weight 2 is 1/100 of the weight of the building.
Although a steel material or the like having a certain mass is used, it is necessary that the force from the actuator 3 is transmitted smoothly, and a compact one that requires as little installation space as possible is desirable.

As the actuator 3, a hydraulic cylinder or the like is desirable in order to realize a device with a relatively large stroke, but in this case, the problem is how to secure the installation space for the hydraulic cylinder, including the stroke.

Further, as mentioned above, the mass of the weight 2 is also quite large, so it is necessary to minimize the influence of frictional force and the like to perform efficient and reliable vibration damping.

This invention aims to solve the above-mentioned problems.

[Means to solve the problem]

The active damping device according to the present invention is basically designed to output a control force proportional to the vibration speed of the building, and uses an amplifier circuit to amplify the signal from vibration detection means such as an accelerometer installed in the building, and performs phase adjustment, etc. The vibration of the building can be suppressed by controlling the actuator using the output control signal and applying a control force from the actuator to the building by taking a reaction force to the weight.

In this invention, a hydraulic cylinder that can relatively easily obtain a large stroke is used as the actuator, and the center of the hydraulic cylinder is supported by a pin on the center of gravity of the weight via a center trunnion or the like. Furthermore, the tip of the piston that enters and exits from the hydraulic cylinder is pin-connected to a fixed part of the building via a clevis or the like. Since the hydraulic cylinder is set on the weight, there is no need to secure installation space for the hydraulic cylinder separately from the weight, and the overall length of the mechanical part of the vibration damping device becomes short and compact. Furthermore, since the center of the hydraulic cylinder is supported by a pin on the center of gravity of the weight, force transmission is smoother than when connected to the end of the weight. Furthermore, since the tip of the hydraulic cylinder is also pin-jointed, even when a weight is suspended and supported as will be described later, vertical movement caused by horizontal movement of the weight can be absorbed and stable force can be transmitted.

By making the shape of the weight so that the cross section perpendicular to the axial direction of the hydraulic cylinder is concave, the axis of the hydraulic cylinder can be made to pass through the center of gravity of the weight, resulting in smooth transmission of force.

The weight used is approximately 1/100 of the weight of the building, and due to space considerations, it is preferable to use a weight made of steel or metal such as lead.

In response to seismic motion, the seismic device is activated instantly,
And in order to minimize machine delays,
It is necessary to minimize friction in the mechanical parts of the device. For this purpose, it is desirable to suspend and support the weight via a hanging material such as a wire.
As for the installation method, a steel frame is constructed on top of a building or within the building, and suspended via hanging materials. As the hanging material, PC steel or piano wire is suitable, and multi-point suspension such as 4-point or 8-point suspension is preferable to eliminate rotation of the weight. Also, in order to eliminate the influence of frictional force as much as possible, it is recommended to use a pulley or the like.

As a result, compared to the method of supporting the weight with rollers or the method of sliding it on a guide rail, the influence of friction can be extremely reduced, and even minute vibrations can be controlled. In the unlikely event of an accident when a weight is suspended and supported, a method such as attaching a cushioning material under the weight can be considered. Also,
It is desirable to provide a guide to prevent the weight from torsional vibration.

〔Example〕

Next, the illustrated embodiment will be described.

Figures 1a to 1c show the structure of a weight drive section in an embodiment of the active damping device of the present invention. The weight 2 has a concave external shape when viewed from the side (see Figure 1b), and is suspended horizontally at eight points from the upper steel frame 4 via upper and lower pulleys 5 and hanging members 6, and is attached to the building body. It is configured to be able to move relative to 1. In the horizontal direction, the building main body 1 is connected to the building main body 1 by a hydraulic cylinder 3 as an actuator, and the hydraulic cylinder 3 can be expanded or contracted according to commands from a control mechanism to apply a control force to the building main body 1.

The reason why the weight has a concave outer shape is that the hydraulic cylinder 3 is installed in this concave portion, so there is no wasted installation space and the whole can be stored compactly. Furthermore, the pulley hanging point, the center of gravity of the weight 2, and the applying point of the hydraulic cylinder 3 can be concentrated at one point, which is convenient in terms of design.

Cushioning materials 8 are pasted at four locations on the lower surface of the weight 2, so that even if some kind of accident occurs, such as when the hanging material 6 is cut, the device is protected. Further, the lower end of the weight 2 is guided by four guide members 9 to prevent twisting in the movement of the weight 2.

FIG. 4 is a conceptual diagram of the signal hydraulic system of the active damping device of this invention.
Accelerometers (S1, S2) as sensors are installed on the weight (abbreviation for Active Mass Driver) and the building, respectively, and send response signals to the control signal generation circuit.

After phase adjustment and amplification are performed by the control signal generation circuit as will be described later, the control signal is sent to the comparison circuit. On the other hand, sensor S1 that detects the movement of the weight
The output signal is also sent to the comparator circuit for feedback control.

The control signal passed through the comparison circuit is sent to the hydraulic servo valve attached to the hydraulic cylinder, and the hydraulic servo valve is controlled. The hydraulic system constitutes a circulation path consisting of a hydraulic tank, a hydraulic pump, a hydraulic servo valve, and a hydraulic cylinder, and an accumulator is provided between the hydraulic pump and the hydraulic servo valve.

A hydraulic cylinder is operated under the control of a hydraulic servo valve, which applies a reaction force to the building and applies a force to the weight of the vibration damping device to suppress the vibrations of the building.

FIG. 5 shows a control signal generating circuit as a block diagram.

In this example, as shown in Figure 3, in addition to the main vibration damping device (designated as AMD1 in the diagram), an auxiliary vibration damping device (designated as AMD1 in the diagram) is installed at the end of the building.
AMD2) was installed, and an auxiliary damping device was used to control torsional vibration components.

In Figure 5, input 1 is the acceleration of the weight of the main vibration control device installed at the center of the top of the building, which is sensed by sensor S1 (see Figure 3), and input 2 and input 4 are the acceleration of the weight of the main vibration control device installed at the center of the top of the building, which is sensed by sensor S2. The acceleration at the center of the top, input 3, is the acceleration of the weight of the auxiliary damping device installed at the top end of the building, which is sensed by sensor S3, and input 5 is the acceleration at the top end of the building, which is sensed by sensor S4.

Input 1 is passed through a low-pass filter to remove minute vibration components and noise, amplified, and then sent to the phase adjuster via an integrating circuit or directly. input 1
is the acceleration, which is 90° out of phase with the velocity,
Mechanical parts such as hydraulic cylinders have mechanical delays due to friction and other factors, so if necessary, the phase is adjusted by 90° using an integrating circuit, and then adjusted to zero using a phase adjuster.
Make adjustments in the range of ~90°. The signal level is then adjusted by an amplifier.

Input 2 similarly excludes minute vibration components and nozzles,
After adjusting the phase, the signal level is brought to a preset level by passing through an automatic gain adjustment circuit. Note that the control signal is 90° out of phase with the building vibration.

Input 1 and input 2 are combined through parallel amplifier circuits as described above.

The vibration of the weight of a seismic damping device must be within the capacity of the device, and there is a limit to its amplitude, whereas the vibration of the building side varies depending on the scale of the earthquake, ranging from small accelerations to large accelerations. There are even things. Therefore, an automatic gain adjustment circuit is installed on the building side, but when the acceleration on the building side is small, the amplification factor in the building side circuit increases, and as the acceleration on the building side increases, the amplification factor in the building side circuit increases. becomes smaller. As a result, when the acceleration on the building side is small, it corresponds to the vibration of the building, and the phase is different from this.
Whereas control is performed with a 90° shift, when the acceleration on the building side increases, the control approaches the movement of the weight, and since the acceleration on the building side is large, control is performed that is almost in sync with the vibration of the building, that is, the hydraulic cylinder It does not work, and the weight appears to be stationary relative to the building. When the acceleration on the building side decreases, the amplification factor in the circuit on the building side increases again, making it possible to accelerate vibration damping of the building.

In addition, the composite signal synthesized through parallel amplifier circuits is outputted at a preset level by passing through a gain adjustment circuit, and the movement of the weight is controlled within the capability of the vibration damping device. ing.

Input 3 is the acceleration of the weight of the auxiliary damping device, and is adjusted by the same amplifier circuit as input 1 above.

Inputs 4 and 5 are the accelerations at the center of the building and at the edges of the building, respectively. After passing through a low-pass filter and a buffer amplifier, the difference is taken by a composite amplifier, and the same adjustment operation as for input 2 above is performed for the torsional vibration component. , and the signal from input 3 that has passed through the amplifier circuit, and then passes through the automatic gain adjustment circuit to output a control signal for the weight of the auxiliary damping device.

In this embodiment, an automatic gain adjustment circuit is provided in the amplifier circuit for amplifying the response signal from the building side, so that the signal level when combined with the amplified response signal from the weight side is adjusted. Therefore, in a range where the vibration of the building is not so large, the amplification factor of the response signal on the building side is large, so that control is performed in accordance with the vibration of the building. Then, as the vibration of the building increases, the amplification factor of the response signal on the building side decreases, and the contribution rate of the movement of the weight side in control increases. In this state, the vibration of the building is large, but since the vibration damping device is controlling within a certain range of capabilities, the vibration of the weight gradually approaches the vibration of the building, and the control is also adjusted to bring it closer to the vibration of the building. Become. As a result, during times of strong shaking, the weight moves almost integrally with the building (staying stationary relative to the building), and the safety of the device is maintained without receiving large forces from the building. When the earthquake subsides and the vibration of the building becomes smaller,
Again, the automatic gain adjustment circuit increases the amplification factor of the response signal on the building side, and it is possible to perform control such that vibrations are applied in the opposite direction to the vibrations of the building, thereby speeding up the attenuation of the vibrations.

Furthermore, as for the output of the composite signal, the output level of the composite signal is further adjusted by an automatic gain adjustment circuit, so that the vibration control device does not operate excessively even in response to excessive vibrations of the building. In other words, if the vibration of the building exceeds the ability of the vibration damping device, it will be controlled within the range of the vibration damping device's ability, and if the vibration is even larger, the vibration of the building will be controlled by bringing the movement of the weight closer to the movement of the building. safety can be ensured.

[Effects of the Invention] By setting the hydraulic cylinder on the weight, the total length of the mechanical part of the vibration damping device becomes short and compact.

By making the outer shape of the weight concave, a hydraulic cylinder can be installed in this recess, which eliminates wasted installation space and allows the whole to be stored compactly.

By aligning the point of force application of the hydraulic cylinder with the center of gravity of the weight, force can be transmitted smoothly.

The center of the hydraulic cylinder is supported by a pin on the center of gravity of the weight, and the tip of the piston that goes in and out of the hydraulic cylinder is pin-connected to a fixed part of the building, making it possible to absorb the vertical movement of the suspended weight. can.

The mechanical structure is simple and can be installed in existing buildings.

Unlike passive control, it is possible to perform optimal control according to individual earthquake characteristics.

[Brief explanation of drawings]

Figures 1a, b, and c are a front view, right side view, and plan view showing one embodiment of the device of the present invention, respectively; Figure 2 is an explanatory diagram showing the principle of an active damping device; Figure 3; Figure 4 is a conceptual diagram of the signal hydraulic system of the active damping system, and Figure 5 is a plan view showing an example of the arrangement of the device.
The figure is a block diagram showing an example of a signal generation circuit of an active damping device to which the present invention is applied. 1... Building body, 2... Weight, 3... Hydraulic cylinder, 4... Steel frame, 5... Pulley, 6...
... Hanging material, 7a, 7b... Sensor, 8... Cushioning material, 9... Guide member.

Claims (1)

[Claims] 1. A weight of a predetermined weight that is movable relative to the building body, an actuator interposed between the weight and the building, and a device for controlling the actuator in response to vibrations of the building. In an active damping device comprising a control circuit that generates a control signal, the actuator is a hydraulic cylinder, the weight has a concave cross section perpendicular to the axial direction of the hydraulic cylinder, and the weight has a concave shape in cross section perpendicular to the axial direction of the hydraulic cylinder. The shaft substantially passes through the center of gravity of the weight, the center of the hydraulic cylinder is supported by a pin on the center of gravity axis of the weight, and the tip of the piston that goes in and out of the hydraulic cylinder is connected with a pin to a fixed part of the building. An active vibration damping device featuring: 2. The active vibration damping device according to claim 1, wherein the weight is suspended and supported with respect to the building body. 3. The active damping device according to claim 2, wherein a plurality of cushioning materials are attached to the lower surface of the weight. 4. The active damping device according to claim 2, wherein a guide mechanism is provided at the installation position of the weight to guide movement of the weight in the axial direction of the hydraulic cylinder.