JP2008291954A - Vibration control device, vibration control system, vibration detection device and vibration detection system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration control technique for efficiently reducing vibration of natural frequency mode of a structure and a detecting technique for efficiently detecting the vibration. <P>SOLUTION: The vibration control device 11 for reducing a vibration mode generated on the structure by applying a compression force or a tensile force between two points P<SB>1</SB>, P<SB>2</SB>of the structure 100 is provided with at least one actuator 111 for generating a driving force in a predetermined direction, at least one transmission body 112, connected with the actuator 111 for transmitting the driving force as the compression force or the tensile force or converting the driving force to the compression force or the tensile force and transmitting them, and two supporting means 113A, 113B for applying the compression force or the tensile force to the structure. About the two supporting means 113A, 113B, both of them are installed at the structure or one of them is installed at the structure and the other one is formed as part of the structure. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention provides a vibration damping device and a vibration damping system that reduce a mode generated in the structure by applying a compression force or an extension force between the two points of the structure, or a compression force applied between the two points of the structure, or The present invention relates to a vibration detection device and a vibration detection system that detect an extension force and detect vibration of the structure.

  Conventionally, as shown in FIG. 18, the vibration reduction device disclosed in Patent Document 1 reduces vibration of a vehicle panel 80 by anti-phase vibration, and includes two plate-like piezoelectric elements 811 and 812. A vibration plate 81, a spacer 82, and a mass body 83 attached to the vibration plate 81.

  The piezoelectric elements 811 and 812 are formed so as to generate a force that expands and contracts in the direction along the surface when a voltage is applied, and the two piezoelectric elements 811 and 812 are bonded together with the electrode 84 interposed therebetween. A diaphragm 81 is formed. The spacer 82 is provided to leave a space between the vibration plate 81 and the panel 80. With the configuration described above, a vibration mode having substantially the same magnitude as the vibration mode of the panel 80 and having a reverse phase can be applied to the panel 80.

Since the vibration reducing device of Patent Document 1 uses the diaphragm 81, it is suitable for damping a planar structure such as a panel 80 of a vehicle. Not suitable for shaking.
In addition, the piezoelectric element used in the structure damping device described in Patent Document 2, the piezoelectric element used in the bracket of the vibration generator described in Patent Document 3, and the vibration damping apparatus described in Patent Document 4 Since the piezoelectric element used is a planar element like the diaphragm described in Patent Document 1, it is expected that the piezoelectric element is not suitable for damping a structure having a beam or a column.

For a beam or column of a structure, a variable bending stiffness control system as described in Patent Document 5 is known. In this control system, as shown in FIG. 19, a constraining material 92 is provided along the pillar 91 of the structure 90 so as to be substantially parallel to the pillar, and the connection state between the constraining material 92 and the pillar 91 is changed in an auxiliary manner. It is configured to control the rigidity of the entire object. That is, this control system changes the expansion / contraction rigidity of the column, and assists the bending rigidity of the column by providing a jack between the upper beam 93 and the lower beam 94.
JP-A-6-10988 JP 2002-61708 A JP-A-292844 JP 2006-189697 A Japanese Patent Laid-Open No. 01-263333

  However, the control system of FIG. 19 does not consider the mode shape of the natural vibration, so if a jack with beams and columns located at both ends is used, the variable bending stiffness can be controlled, but the natural vibration of the structure Cannot be applied when reducing the natural vibration (when focusing on the mode shape and reducing the natural vibration).

The object of the present invention is to control a large structure with a linear drive actuator, and not only a vibration mode with a short node length but also a vibration mode with a long node length can be controlled with high efficiency. There is to do.
Another object of the present invention is that large structures can be damped by springs and attenuators, and it is highly efficient not only for vibration modes with short nodes but also for vibration modes with long nodes. It is to perform vibration control.
Still another object of the present invention is to detect a vibration of a large structure by a piezoelectric element, and when it is desired to detect a certain mode of vibration, by arranging a vibration detection device of a predetermined length at an appropriate position, The object is to efficiently detect vibrations in this mode.

The first aspect of the present invention is summarized as (1) to (8).
(1) In a vibration damping device that reduces a vibration mode generated in the structure by applying a compression force or an extension force between two points of the structure,
At least one actuator for generating a driving force in a predetermined direction;
At least one transmission body coupled to the actuator and transmitting the driving force as the compression force or the extension force or by converting the drive force into the compression force or the extension force;
Two supporting means for applying the compressive force or the stretching force to the structure, both attached to the structure, or one attached to the structure and the other part of the structure; ,
A vibration control device characterized by comprising:
As said transmission body, what consists of a rod-shaped body and a wire can be used. The rod-like body and the wire are usually long with respect to the actuator, but are not necessarily long. The actuator may be of a type that generates only a pressing force (pushing force), a type that generates only a pulling force (tensile force), or a type that generates both a pressing force and a pulling force.
In addition, the direction of the acting force (compression force or extension force) of the transmission body may be the same as or different from the direction of the driving force of the actuator.
The pushing force and pulling force of the actuator are transmitted to the structure through the transmission body and the support means. The transmission body may be integrated with the actuator to apply a compression force or an extension force to the structure via the two support means, or the transmission body alone may apply the compression force or the extension force to the structure via the support means. It may be given to.
The support means may be a bracket (support piece) or a block (support block) attached to the structure, or may be a wire locking hole formed in the structure when the transmission body is a wire.

(2) The actuator according to (1), wherein the actuator applies a pressing force or a tensile force of a predetermined magnitude to the structure through the transmission body and the support means in a non-driven state. Vibration damping device.

(3) The control device according to (1) or (2), further including a support member that supports the structure so as to be movable in the direction of the compression force or the extension force via the two support means. Shaker.
Linear bearings, sliding bearings, laminated rubber, and pulleys can be used as the bearing members. The support member may be a pedestal or the like that is simply placed.

(4) The vibration damping device according to any one of (1) to (3), further including at least one vibration sensor that detects vibration generated in the structure.
The vibration sensor may be any sensor as long as it can be detected as some physical change caused by vibration generated in the structure. For example, it can be applied to the acting force (compression force or extension force) of the transmission body. The displacement of the structure in the vertical direction, the displacement sensor that detects the primary time derivative (velocity), the secondary time derivative (acceleration) of the displacement, the speed sensor, the acceleration sensor, or the acting force (compressive force or extension force) of the transmitter ) Is a strain sensor for detecting the strain of the structure in the parallel direction.

(5) A vibration damping system comprising the vibration damping device according to (4) and a control device that drives the actuator based on vibration detected by the vibration sensor,
The two points are present between the curve top of the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable and the curve bottom existing next thereto, or the end point of the structure and next thereto. Choose between the curve top or the curve bottom,
The said control apparatus receives the signal which detects the vibration which arises in the said structure from the said vibration sensor, and sends a drive signal to the actuator of the said vibration suppression apparatus based on the said signal.
In the vibration damping system according to the first aspect, basically, the two points (the points where the supporting means for applying a compressive force or an extension force to the structure are arranged) are located between the two points (however, in the vicinity of each point). By selecting so that the curve top and the curve bottom of the distance differentiation of the mode shape function are not included in (excluding the region), it is possible to efficiently perform vibration control corresponding to the order of the vibration mode. Specifically, the two points are selected at positions as described in (6) to (8).

(6) When the two points do not include an end point, the two points are selected so that a point where the distance differentiation is zero is located between the two points. Damping system.

(7) A vibration damping system including the vibration damping device according to (4) and a control device that drives the actuator based on vibration detected by the vibration sensor,
One of the two points is selected between a point where the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable is zero and the curve top closest to the zero point. Select the other point near the point on the curve top opposite to the point where the distance derivative is zero, or one of the two points is zero when the distance derivative is zero Choose between the curve bottom closest to the point and select the other point near the point opposite the point where the distance derivative of the curve bottom is zero,
The said control apparatus receives the signal which detects the vibration which arises in the said structure from the said vibration sensor, and sends a drive signal to the actuator of the said vibration suppression apparatus based on the said signal.

(8) A vibration damping system comprising the vibration damping device according to (4) and a control device that drives the actuator based on vibration detected by the sensor,
The two points are in the vicinity of the curve top of the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable and the curve bottom near the adjacent point, or near the end point of the structure and the adjacent point. Select the curve top or near the curve bottom
The said control apparatus receives the signal which detects the vibration which arises in the said structure from the said vibration sensor, and sends a drive signal to the actuator of the said vibration suppression apparatus based on the said signal.
The mode shape function is generally represented by φ _n (n is a positive integer), and the mode shape function described above is a function regarding the order of the mode to be controlled (that is, φ _k when this order is _k ). is there.
In the control in the vibration damping system of the present invention, the temperature can be included in the control parameter, and the correction can be made in consideration of the thermal expansion / contraction of the transmission body or the like.

The second aspect of the present invention is summarized from (9) to (14).
(9) at least one spring and at least one attenuator;
At least one transmission body coupled to the spring and the attenuator;
Two support means for applying force from the spring and the attenuator to the structure, both attached to the structure or one attached to the structure and the other part of the structure When,
With
A vibration damping device that reduces vibration generated in the structure by applying the force between two points of the structure.
The spring can apply the force of a predetermined magnitude to the structure via the transmission body and the support means in a steady state. Further, the attenuator can consume vibration energy transmitted through the transmission body.
The spring is a mechanical spring, an air spring, a synthetic rubber elastic body, or the like. Moreover, in the 2nd aspect, as in said 1st aspect, what consists of a rod-shaped body and a wire can be used as said transmission body. The rod-like body and the wire are long with respect to the actuator, but are not necessarily long.

(10) The vibration damping device according to (9), further including a support member that supports the transmission body so as to be movable in the direction of the driving force.
As this support member, a linear bearing, a sliding support body, a laminated rubber, a pulley, or the like can be used, or it may be simply placed on a pedestal provided on the structural member.

(11) A vibration damping system including the vibration damping device according to (9) or (10) provided between two points of a structure,
The two points are present between the curve top of the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable and the curve bottom existing next thereto, or the end point of the structure and next thereto. A vibration control system selected between the curve top and the curve bottom.
In the vibration damping system according to the second aspect, as in the system according to the first aspect, basically, the two points (the points at which the support means for applying a compressive force or an expansion force is arranged) are arranged. By selecting so that the curve top and the curve bottom of the distance derivative of the mode shape function are not included between the points (but excluding the area near each point), the vibration control corresponding to the order of the vibration mode is efficiently performed. Can do. Specifically, the two points are selected at positions as described in (12) to (14).

(12) The vibration damping system according to (11), wherein the two points are selected so that a point where the distance differentiation is zero is located between the two points.

(13) A vibration damping system including the vibration damping device according to (9) or (10) provided between two points of a structure,
One of the two points is selected between a point where the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable is zero and the curve top closest to the zero point. Select the other point near the point on the curve top opposite to the point where the distance derivative is zero, or one of the two points is zero when the distance derivative is zero A vibration damping system characterized in that it is selected between the curve bottom closest to the point and the other point is selected in the vicinity of the opposite side of the curve bottom where the distance differentiation is zero.

(14) A vibration damping system including the vibration damping device according to (9) or (10) provided between two points of a structure,
Near the curve top of the distance derivative of the mode shape function (n-th mode mode shape function) with the position in the direction connecting the two points as a variable, and the vicinity of the curve bottom existing next to the two points, or the structure The vibration control system is characterized in that it is selected in the vicinity of the end of the curve and the curve top or the curve bottom adjacent to it.

The gist of the third aspect of the present invention is (15) to (21).
(15) In a vibration detection device that detects vibration generated in the structure by detecting a compression force or an extension force generated between two points of the structure,
Two supporting means to which the compressive force or the stretching force is applied, both attached to the structure, or one attached to the structure and the other part of the structure;
At least one transmitter for transmitting the compression force or the extension force between the two support means directly or indirectly to the piezoelectric element;
A piezoelectric element that converts the force transmitted by the transmission body into an electrical signal;
A vibration detection apparatus comprising:

(16) The vibration detecting apparatus according to (15), wherein a force of a predetermined magnitude is applied to the piezoelectric element through the support means in a non-operating state.

(17) The vibration detection device according to (15) or (16), further including a support member that supports the transmission body so as to be movable in a direction of a compression force or an extension force applied between the two points. .

(18) A vibration detection system comprising the vibration detection device according to any one of (15) to (17) and a vibration detection circuit,
The two points are present between the curve top of the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable and the curve bottom existing next thereto, or the end point of the structure and next thereto. Choose between the curve top or the curve bottom,
The vibration detection system receives a signal from the vibration detection device and detects vibration generated in the structure based on the signal.
Even in the vibration damping system according to the third aspect, basically, the two points (the points where the supporting means to which the compressive force or the extension force is applied from the structure is disposed) are located between the two points (however, in the vicinity of each point) By selecting such that the curve top and the curve bottom of the distance differentiation of the mode shape function are not included in (excluding the region of (5)), vibration detection corresponding to the order of the vibration mode can be performed efficiently. Specifically, the two points are selected at positions as described in (19) to (21).

(19) The vibration detection system according to (18), wherein the two points are selected so that a point where the distance differentiation is zero is located between the two points.

(20) A vibration detection system comprising the vibration detection device according to any one of (15) to (17) and a vibration detection circuit,
One of the two points is selected between a point where the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable is zero and the curve top closest to the zero point. Select the other point near the point on the curve top opposite to the point where the distance derivative is zero, or one of the two points is zero when the distance derivative is zero Choose between the curve bottom closest to the point and select the other point near the point opposite the point where the distance derivative of the curve bottom is zero,
The vibration detection system receives a signal from the vibration detection device and detects vibration generated in the structure based on the signal.

(21) A vibration detection system comprising the vibration detection device according to any one of (15) to (17) and a vibration detection circuit,
The two points are in the vicinity of the curve top of the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable and the curve bottom near the adjacent point, or near the end point of the structure and the adjacent point. Select the curve top or near the curve bottom to
The said detection apparatus receives the signal from the said vibration detection apparatus, and detects the vibration which arises in the said structure based on the said signal, The vibration detection system characterized by the above-mentioned.

  According to the first aspect of the present invention, a large structure can be damped by the linearly driven actuator. That is, high-efficiency damping can be performed not only for vibration modes with short node intervals but also for vibration modes with long node intervals.

  According to the second aspect of the present invention, the large structure can be damped by the spring and the attenuator as in the first aspect. In this case as well, as in the first aspect, the vibration mode has a short node interval. Of course, high-efficiency vibration suppression can be performed even in vibration modes with long knot spacing.

  According to the third aspect of the present invention, it is possible to detect the vibration of the large structure by the piezoelectric element, and in particular, when it is desired to detect the vibration of a certain mode, the vibration detection device having a predetermined length is disposed at an appropriate position. As a result, the vibration in the mode can be detected efficiently.

Embodiments of the present invention are described below.
1A, 1B, and 1C are a plan view, a side view, and a front view showing a vibration damping device of the present invention. This vibration damping device is generated in a structure by applying vibration to the structure. Vibration can be reduced. In FIG. 1, for convenience of explanation, only a part of the structure 100 (here, H steel) is shown.
The vibration control device 11 includes one actuator 111, one transmission body (in this embodiment, a rod-like body) 112, a pair of support means 113A and 113B, and one support member 114. In FIG. 1A, the support member 114 is not shown, and in FIG. 1C, the actuator 111, the transmission body 112, the support means 113B, and the support member 114 are not shown.

  The actuator 111 is a piezoelectric material (element) in FIG. 1 and generates a pressing force in the X-axis direction (± X direction) shown in FIGS. In addition to piezoelectric materials, hydraulic actuators and electromagnetic actuators (linear motors, rotary motors using a rotation-linear conversion mechanism) can also be used as actuators.

As shown in FIGS. 1A and 1B, the support means 113A and 113B attached to the two points P ₁ and P ₂ of the structure 100 function as brackets, and support the actuator 111 and the transmission body 112 from both ends thereof. To do. In the present embodiment, the point P ₁ is the center point of the surface where the support means 113 A is in contact with the structure 100, and the point P ₂ is the center point of the surface where the support means 113 B is in contact with the structure 100. Note that an end point on the surface in contact with the point _{P 1} to the structure 100 of the actuator 111 side of the support means 113A, on the surface in contact with the point _{P 2} to the structure 100 of the transfer member 112 of the supporting means 113B It can also be an end point.

  The support member 114 is a device (linear bush) provided with a linear bearing provided between the actuator 111 and the structure 100, and supports the transmission body 112 from the structure 100 side without being restricted in the direction of the driving force. . In the present invention, the support member (reference numeral 114 in FIG. 1) is provided to prevent buckling or displacement of the transmission body 112, but is provided when there is no danger of buckling or displacement. It does not have to be.

In the present embodiment, the actuator 111 is provided with a mounting jig 115 made of metal, and the mounting jig 115 is pressed against the actuator 111. The jack bolt provided on the support means 113A adjusts the difference between the total length of the length between the support means 113A and 113B and the length of the transmission body 112, the actuator 111, and the mounting jig 115, and supports the jack bolt. A predetermined stretching force is applied between the means.
If the actuator 111 is not a push-pull type, a drive command of 20% to 80% is given as a drive command for the actuator, if a state in which a bias component of a constant value (for example, 50% of the maximum capacity) is added to the non-actuated state In this case, it corresponds to the pushing / pulling force of ± 30%.

  FIG. 2A is a diagram showing a mode in which two transmitter elements 112A and 112B (see the transmitter 112 shown in FIGS. 1A and 1B) are connected and used as one transmitter. . In FIG. 2A, a coupling tool 116 is provided for connection with the transmission element 112A, 112B, and a support member 114 is provided between the transmission element 112A, 112B and the structure 100, respectively. ing.

  FIG. 2 (B) is a diagram showing a mode in which three transmitter elements 112A, 112B, and 112C are connected and used as one transmitter, and the transmitter elements 112A and 112B are connected, and the transmitter elements 112B and 112C are used. For the connection, a connecting tool 116 is provided. Further, support members 114 are provided between the transmission element 112A, 112B, 112C and the structure 100, respectively.

  In the vibration damping device 11 in FIG. 1 and the vibration damping device 11 in FIGS. 2A and 2B, an example in which a linear bearing is used as the support member 114 is shown. Various configurations that can be movably supported can be employed. For example, a sliding support can be used as the support member 114 as shown in FIG. This sliding support is a member that has been surface-treated with a material having excellent sliding properties (indicated by hatching in FIG. 3), and is configured to support the transmission body 112 by this member. Further, for example, the support member 114 may be a metal or ceramic that is not particularly subjected to a surface treatment with a material having excellent sliding properties.

  Further, as the sliding support member 114, a leaf spring as shown in the plan view of FIG. 4A, the side view of FIG. 4B, and the front view of FIG. In FIG. 4, the sliding support member 114 includes a leaf spring H and a leaf spring fixing portion S and a leaf spring fixing portion B provided at both ends of the leaf spring H, and the leaf spring fixing portion S is attached to the structural member 100. The leaf spring fixing portion B is attached to the transmission body 112. The leaf spring H can support the transmission body 112 so as to be movable in the center axis method.

  In the embodiment shown in FIG. 1, the embodiment shown in FIGS. 2A and 2B, and the embodiment shown in FIG. 3, the actuator 111 is shown using a piezoelectric material. However, the present invention is not limited to this. A hydraulic jack can be used as shown in FIG. In FIG. 5, the actuator 111 (hydraulic jack) is attached to the supporting means 113A by bolting or the like, and the attachment jig 115 is not used.

In the above-described vibration damping device 11, the case where a compressive force is applied to the transmission body 112 has been described, but the vibration damping device 11 can be configured such that an extension force is applied to the transmission body 112. 6A is a side view of the vibration damping device 11, FIG. 6B is an explanatory view of the directions of arrows q ₁ and q _{1 in} FIG. 6A, and FIG. 6C is an arrow q ₂ in FIG. , Q ₂ is an explanatory view of the direction.

In FIG. 6A, the end of the transmission body 112 is gripped by the transmission body gripping tool 117, and the pushing force of the actuator is converted into the extension force of the transmission body 112.
When a compressive force is applied to the transmission body 112, a rod-shaped body must be used as the transmission body 112, and there is a risk of buckling. However, in FIGS. 6A to 6C, the transmission body 112 expands. Since force is applied, there is no risk of buckling even if a rod-like body is used as the transmission body 112. In FIGS. 6A to 6C, a rod-shaped body is used as the transmission body 112, but a wire can also be used.

  FIG. 7 is a model diagram showing an embodiment in which the vibration damping system of the present invention is applied to a structure that is fixed at both ends (an example in which both ends are fixed to have a uniform cross section). Hereinafter, the operation of the vibration damping system of FIG. 7 will be described including the operation of the vibration damping device 11 described with reference to FIGS. In FIG. 7, the entire vibration damping device 11 is not shown, and only the support means 113A and 113B are shown.

In this embodiment, both ends of the structure 100 are fixed. Support means 113A and 113B are attached to two points P ₁ and P ₂ on the structure 100, and an actuator and a transmission body (not shown) are provided between the support means 113A and 113B. FIG. 7 shows a state in which a force is applied to the transmission body so as to spread the support means 113A and 113B, whereby moments M and −M act on the structure.

The behavior when the structure 100 undergoes natural vibration is generally represented by a mode shape function φ _n (x).
Here, φ _n (x) is a function whose length is defined in the X-axis direction of the structure, and in the beam having a uniform cross section fixed at both ends in the present embodiment,
φ _n (x)
= Coshk _n x-cosk _n x
-[(Cos _{k n} L-coshk _n L) / (sink _n L-sinhk _n L)]
X (sinhk _n x-sink _n x) (1)
It is. Further, the derivative of phi _n is expressed as follows.
dφ _n (x) / dx
= K _n sinkh _n x + k _n sink _n x
-[(Cos _{k n} L-coshk _n L) / (sink _n L-sinhk _n L)]
_{× (k n coshk n x-} k n cosk n x) ··· (2)
In the above equations (1) and (2), k _n (n = 1, 2, 3, 4,...) Is
k ₁ = (2.267) ^1/2 × π / L
k ₂ = (6.249) ^1/2 × π / L
k ₃ = (12.25) ^1/2 × π / L
k ₄ = (20.25) ^1/2 × π / L
It becomes.
Here, L is the length of the beam.

8 (A), (B), (C), and (D), the mode shape function φ _n (x) when n = 1, 2, 3, 4 is indicated by a solid line, and dφ _n (x) / dx is indicated by a broken line. Further, a point at which dφ _n (x) / dx is maximized is indicated by a white circle, and a point at which dφ _n (x) / dx is minimized is indicated by a black circle. In FIG. 7, the total length of the structure 100 is a unitless numerical value 4.0, and the amplitude is also indicated by a unitless numerical value.
Note that the end points indicated by white triangles can be handled in the same manner as the points of dφ _n (x) / dx = 0 (can be point candidates when selecting P ₁ and P ₂ ).
In the case of the attachment mode of the actuator 111 shown in FIG. 7, if two arbitrary points on the beam are P ₁ and P ₂ , Δ (φ _n ′) can be defined as a function indicating the influence on the mode.
Δ (φ _n ′) = dφ _n (P ₁ ) / dx−dφ _n (P ₂ ) / dx (3)

The top of the peak (curve top, white circle point) x ₁ of the differential dφ _k (x) / dx of the shape function φ _k of the _k-th mode to be controlled, and the lowest point of the valley (curve) If the bottom, black circle point) x ₂ is taken, Δ (φ _k ′) selects P ₁ as the point x ₁ (white circle point), and P ₂ becomes the local minimum point (black dot) ) becomes the maximum when you select to x _2.

9 (A), (B), (C), (D), (E), and (F) are shown in FIG. 8 (A) in which the two points P ₁ and P ₂ are selected for the primary mode. Will be explained.
9 (A) is two points _P 1, _{P 2,} hatched between (the area between the curve top d.phi ₁ / dx (open circles) and d.phi ₁ / dx curve bottom present in the next (closed circles) Shows the case of selecting. In FIG. 9A, the point where dφ ₁ / dx becomes zero is selected between P ₁ and P ₂ so as not to be located.

FIG. 9 (B) the two points _P 1, _{P 2,} hatched between (the area between the curve top d.phi ₁ / dx (open circles) and d.phi ₁ / dx curve bottom present in the next (closed circles) And a point where the distance differential dφ ₁ / dx is zero is selected between P ₁ and P ₂ .

FIG. 9C shows two points P ₁ and P ₂ between a point where dφ ₁ / dx is zero and a curve top (white circle) of dφ ₁ / dx closest to the zero point (this region). And the other point P ₂ is selected in the vicinity of the opposite side of the point where dφ ₁ / dx of the curve top of dφ ₁ / dx becomes zero.

Figure 9 (D), the two points _{P 1, P 2, dφ 1} / dx curve top near the d.phi ₁ / dx hatched curve bottom near (curve top and near the curve bottom near the region of that present in the next Shows the case of selecting.

FIG. 9E shows two points P ₁ and P ₂ between the end point of the structure 100 (the white triangle at the left end in the figure) and the curve top (white circle) of dφ ₁ / dx existing next to it (this circle) The area is indicated by hatching).
FIG. 9 (F) shows two points P ₁ and P ₂ in the vicinity of the end point of the structure 100 (the white triangle at the left end in the figure) and the vicinity of the curve top (white circle) of dφ ₁ / dx existing next to it. The area is indicated by hatching).

  In the case of FIG. 9 (D), the influence on the mode is the largest and the vibration damping efficiency is the highest, but there are cases where it cannot be implemented due to some restrictions of the structure, in which case FIGS. 9 (A), (B), ( One of C), (E), and (F) is selected.

FIG. 10 is a model diagram showing an embodiment in which the vibration damping system of the present invention is applied to a one-end fixed structure (cantilever). Hereinafter, the operation of the vibration suppression system of FIG. 10 will be described.
10 is the same as FIG. 7 except that one end of the structure 100 is fixed and the other end is free.
The n-order mode shape function φ _n (x) for the structure 100 of FIG.
φ _n (x)
= Coshk _n x-cosk _n x
− [(Cos _{k n} L + coshk _n L) / (sink _n L + sinhk _n L)]
X (sinhk _n x-sink _n x) (4)
It is represented by Further, the derivative of phi _n is expressed as follows.
dφ _n (x) / dx
= K _n sinkh _n x + k _n sink _n x
− [(Cos _{k n} L + coshk _n L) / (sink _n L + sinhk _n L)]
_{× (k n coshk n x-} k n cosk n x) ··· (5)
k ₁ = (0.356) ^1/2 × π / L
k ₂ = (2.232) ^1/2 × π / L
k ₃ = (6.252) ^1/2 × π / L
k ₄ = (12.25) ^1/2 × π / L

In FIGS. 11A, 11B, 11C, and 11D, mode shape functions φ _n (x) when n = 1, 2, 3, 4 are indicated by solid lines, and dφ _n (x) / dx is indicated by a broken line. Further, a point at which dφ _n (x) / dx is maximized is indicated by a white circle, and a point at which dφ _n (x) / dx is minimized is indicated by a black circle. In FIG. 11, the total length of the structure 100 is a unitless numerical value 4.0, and the amplitude is also indicated by a unitless numerical value. Note that the end points indicated by white triangles can be handled in the same manner as the points of dφ _n (x) / dx = 0 (can be point candidates when selecting P ₁ and P ₂ ).
In the present embodiment, Δ (φ _n ′) in the expression (3) can be defined as a function indicating the influence on the mode. In the case of the k-th order mode, Δ (φ _k ′) selects P ₁ as a point x ₁ (white circle point) and P ₂ as a local minimum point (black circle point) x ₂ existing next to it. Maximum when selected.

12 (A) and 12 (B), a mode of selection of the two points P ₁ and P ₂ for the primary mode shown in FIG. 11 (A) will be described.
FIG. 12A shows two points P ₁ and P ₂ as an end point (white triangle) of the structure (in this case, a minimum value of dφ ₁ (x) / dx) and dφ ₁ / A case is shown in which the curve top (white circle) of dx (which is also an end point in this case) is selected (this region is indicated by hatching).

FIG. 12 (B) shows two points P ₁ and P ₂ near the end point (white triangle) of the structure and near the curve top (white circle) of dφ ₁ / dx that is adjacent to the two points P ₁ and P ₂ . The area is indicated by hatching).
Here, two examples of a simple uniform cross-section beam have been shown. If a mode shape function is obtained from a finite element analysis even for a complex structure, appropriate P ₁ and P ₂ can be derived by the same method. it can.

In ordinary structures, the order of vibration modes that require damping is often low, but the present invention is also effective when the vibration mode is high.
The vibration mode that requires damping is not limited to one for one structure, and may be two or three or more. For example, it is possible to attach two two vibration control devices having the same configuration to two different predetermined points on the structure in the same direction connecting the two predetermined points. For example, for a certain beam or column of a structure, vibration suppression is necessary for the i-th order mode shape function φ _Ai , and at the same time for a j-th order mode shape function φ _Bj for the other beams or columns of the structure. Vibration suppression may be required. Further, there is the 2 opposing sides of the rectangular frame, performs damping for the i order mode shape function phi _Ai, also make damping for the remaining two opposing sides for the j-th order mode shape function phi _Bj .

FIGS. 13A to 13E are explanatory views of an embodiment in which the direction of the driving force of the actuator is orthogonal to the direction of the force generated in the transmission body 212. FIG.
In FIG. 13A, the vibration damping device 21 provided in the structure 200 includes an actuator 211, a transmission body 212 made of a wire, support means 213A and 213B, and a support member 214 made of a pulley. FIG. 13B shows a state in which the supporting means 213A and 213B are attached to P ₁ and P ₂ .
FIG. 13C shows an embodiment in which a spring 216 for preventing sagging is provided along with the actuator 211, and FIG. 13D shows an embodiment in which an attenuator 217 is further provided.
FIG. 13E shows an embodiment using a link mechanism in place of the wire and pulley in the vibration damping device 21 of FIG. The transmission body 212 is two link rods, and the support member 214 is a fulcrum. One end of each link rod is attached to a link shaft provided in the actuator, and the other end of the link rod is connected to a link shaft provided in the support means 213A and 213B. Although not shown in FIG. 13 (E), there may be a case where a spring is added to the actuator 211 or an attenuator.

FIG. 14 is a functional block diagram of the vibration damping system of the present invention. In FIG. 14, the vibration of the structure 100 is detected by the vibration sensor 118, and the control device 119 generates a drive signal for the actuator 111 based on information from the vibration sensor. In FIG. 14, the control device acquires temperature information T from a thermometer (not shown), and may correct a change in size due to thermal expansion / contraction of the transmission body or the like.
In the above embodiment, the case where the actuator is used has been described. However, in the vibration damping device of the present invention, a spring and an attenuator can be used instead of the actuator.

In FIG. 15A, the vibration damping device 31 includes one spring 311, one transmission body (rod-like body in this embodiment) 312, a pair of support means 313 A and 313 B, and one support member 314. And an attenuator 316.
The support means 313A and 313B are attached to the two points P ₁ and P ₂ of the structure 300, one end of the transmission body 312 is attached to the support means 313B, and the other end passes through the hole of the support means 313A. Connected to. A spring 311 and an attenuator 316 are installed between the gripper and the support means 313A. In this embodiment, the point P ₁ is the center point of the surface where the support means 313 A is in contact with the structure 300, and the point P ₂ is the center point of the surface where the support means 313 B is in contact with the structure 300.
The support member 314 is a linear bearing provided between the transmission body 312 and the structure 300, and supports the transmission body 312 without restraining it in the axial direction of the transmission body. In the drawing of the support means 313B, the clearance between the support means 313A and the gripping tool is adjusted by an adjustment bolt at one end of the transmission body 312 on the right side, the compression force of the spring 311 is set to a predetermined value, and the transmission body 312 is expanded and contracted. Can give power.
The attenuator 316 performs vibration suppression by consuming vibration energy transmitted through the transmission body.

  FIG. 15B shows an embodiment in which a wire is used as the transmission body 312 and a pulley is used as the support member 314.

16A and 16B are explanatory views of an embodiment of the vibration damping device in which the spring 411 and the attenuator 416 are orthogonal to the length direction of the transmission body 412. FIG. In FIG. 16A, the vibration damping device 41 provided in the structure 400 includes a spring 411, a transmission body 412 made of a wire, support means 413A and 413B, a support member 414 made of a pulley, and an attenuator 416. It consists of. The transmission body 412 is stretched around the support means 413A and 413B in the longitudinal direction of the structure 411, and the spring 411, the attenuator 416, and the support member 414 are provided in the middle of the transmission body 412. FIG. 16B shows a state in which the support means 213A and 213B are attached to P ₁ and P ₂ .

  FIG. 16C shows an embodiment in which a link mechanism is used in place of the wire and pulley in the vibration damping device 41 of FIG. The transmission body 412 is two link rods, and the support member 414 is a fulcrum. One end of each link rod is attached to a link shaft provided in the actuator, and the other end of the link rod is connected to a link shaft provided in the support means 413A, 413B.

Next, an embodiment of the vibration detection device of the present invention will be described.
The configuration of the vibration detection device is basically the same as the structure of the vibration damping device including the actuator composed of the piezoelectric element described above. As is well known, since a piezoelectric element can be used as a vibration sensor, FIGS. 1 (A), (B), (C), FIGS. 2 (A), (B), FIG. 3, FIG. 4 (A), ( B), (C), FIG. 6 (A), (B), (C), FIG. 13 (A), (B), (C), (D), (E) It can be used as it is as the vibration detection apparatus of the present invention.

  Moreover, the vibration detection system of this invention can be comprised using these vibration detection apparatuses. That is, the configuration, operation, etc. of the vibration detection system of the present invention are shown in FIGS. 7, 8A, 8B, 9C, 9D, 9A, 9B, 9C, and 9C. (D), (E), (F) shown in FIGS. 10, 11 (A), (B), (C), (D), 12 (A), (B) This is almost the same as the configuration, operation, etc. of the single-end fixed (cantilever) vibration detection system.

  FIG. 17 is a functional block diagram of the vibration detection system of the present invention. In FIG. 17, the vibration of the structure 100 ′ is output by the vibration detection device 11 ′ (specifically, the piezoelectric element 111 ′ outputs a voltage signal), and the vibration detection circuit 119 ′ indicates the vibration as a numerical value. Output as. In FIG. 17, the support means are indicated by reference numerals 213A ′ and 213B ′, and the transmission body is indicated by reference numeral 112 ′.

  In FIG. 17, the vibration detecting device 11 ′ can efficiently detect the magnitude of the corresponding mode vibration. That is, in a device that cannot cope with mode vibration, a plurality of mode vibrations are detected at the same time. However, in the present invention, it is possible to detect a specific mode vibration with high sensitivity. In addition, for example, a plurality of vibration detection devices can be prepared in a structure corresponding to a plurality of vibration modes.

(A) is a top view which shows the damping device of this invention, (B) is a side view similarly, (C) is a front view similarly. (A) is a figure which shows the aspect which connects two transmitter elements and uses it as one transmitter, (B) is a figure which shows the aspect which connects three transmitter elements and uses as one transmitter is there. It is a figure which shows embodiment using a sliding bearing as a supporting member. It is a figure which shows embodiment using the support by a leaf | plate spring as a support member, (A) is a top view, (B) is a side view, (C) is a front view. It is a figure which shows embodiment using a hydraulic jack. Is a diagram showing an embodiment constituted damping device as stretching force is applied to the transfer member, (A) is a side view of a vibration damping device, (B) is an arrow q _1, q ₁ direction in (A) illustration viewed is an explanatory view of the arrow _q 2, _{q 2} direction in (C) is (a). It is a model figure which shows embodiment which applied the damping system of this invention to the structure fixed at both ends. (A), (B), (C), (D) are the mode shape function φ _n (x) and its differential function dφ _n when n = 1, 2, 3, 4 in the model diagram of FIG. It is a figure which shows (x) / dx. (A), (B), (C), (D), (E), and (F) describe the mode of selection of two points for the primary mode shown in FIG. It is a model figure which shows embodiment which applied the damping system of this invention to the structure (cantilever) of one end fixed and one end free. (A), (B), (C), (D) are the mode shape function φ _n (x) and its differential function dφ _n when n = 1, 2, 3, 4 in the model diagram of FIG. It is a figure which shows (x) / dx. (A), (B) is explanatory drawing which shows the aspect of selection of 2 points | pieces about the primary mode shown to FIG. 11 (A). (A) to (E) are explanatory views of an embodiment in which the direction of the driving force of the actuator is orthogonal to the direction of the force applied to the transmission body. It is a block diagram which shows the vibration suppression system of this invention. (A) is a diagram showing an embodiment in which the vibration damping device is composed of one spring, one transmission body, a pair of support means, one support member, and an attenuator, and (B) is a wire as the transmission body. It is a figure which shows embodiment using a pulley as a support member. (A) is explanatory drawing of embodiment with which the direction of a spring and a damper is orthogonal to the direction of the force applied to a transmission body, (B) is the figure which expanded (A), (C) is (A). It is a figure using a link mechanism instead of the wire and pulley in the vibration damping device. It is a functional block diagram of the vibration detection system of this invention. It is explanatory drawing of the prior art which reduces the vibration of the panel of a vehicle by the vibration of a reverse phase. It is a figure which shows the damping device considered in order to eliminate the inconvenience in the damping technique of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Structure 11 Damping apparatus 111 Actuator 112 Transmission body 113A, 113B Support means 114 Bearing member 115A, 115B Mounting jig 116 Connection tool L Length of beam

Claims (21)

In a vibration damping device that reduces a vibration mode generated in the structure by applying a compression force or an extension force between two points of the structure,
At least one actuator for generating a driving force in a predetermined direction;
At least one transmission body coupled to the actuator and transmitting the driving force as the compression force or the extension force or by converting the drive force into the compression force or the extension force;
Two supporting means for applying the compressive force or the stretching force to the structure, both attached to the structure, or one attached to the structure and the other part of the structure; ,
A vibration control device characterized by comprising:   2. The vibration damping device according to claim 1, wherein the actuator applies a pressing force or a pulling force of a predetermined magnitude to the structure through the transmission body and the support means in a non-driven state. apparatus.   The vibration damping device according to claim 1, further comprising a support member that supports the transmission body so as to be movable in the direction of the compression force or the extension force.   The vibration damping device according to claim 1, further comprising at least one vibration sensor that detects vibration generated in the structure. A vibration damping system comprising the vibration damping device according to claim 4 and a control device that drives the actuator based on vibration detected by the vibration sensor,
The two points are present between the curve top of the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable and the curve bottom existing next thereto, or the end point of the structure and next thereto. Choose between the curve top or the curve bottom,
The said control apparatus receives the signal which detects the vibration which arises in the said structure from the said vibration sensor, and sends a drive signal to the actuator of the said vibration suppression apparatus based on the said signal.   6. The vibration damping system according to claim 5, wherein, when the two points do not include an end point, the two points are selected such that a point where the distance differentiation is zero is located between the two points. . A vibration damping system comprising the vibration damping device according to claim 4 and a control device that drives the actuator based on vibration detected by the vibration sensor,
One of the two points is selected between a point where the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable is zero and the curve top closest to the zero point. Select the other point near the point on the curve top opposite to the point where the distance derivative is zero, or one of the two points is zero when the distance derivative is zero Choose between the curve bottom closest to the point and select the other point near the point opposite the point where the distance derivative of the curve bottom is zero,
The said control apparatus receives the signal which detects the vibration which arises in the said structure from the said vibration sensor, and sends a drive signal to the actuator of the said vibration suppression apparatus based on the said signal. A vibration damping system comprising: the vibration damping device according to claim 4; and a control device that drives the actuator based on vibration detected by the sensor,
The two points are in the vicinity of the curve top of the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable and the curve bottom near the adjacent point, or near the end point of the structure and the adjacent point. Select the curve top or near the curve bottom
The said control apparatus receives the signal which detects the vibration which arises in the said structure from the said vibration sensor, and sends a drive signal to the actuator of the said vibration suppression apparatus based on the said signal. At least one spring and at least one attenuator;
At least one transmission body coupled to the spring and the attenuator;
Two support means for applying force from the spring and the attenuator to the structure, both attached to the structure or one attached to the structure and the other part of the structure When,
With
A vibration damping device that reduces vibration generated in the structure by applying the force between two points of the structure.   The vibration damping device according to claim 9, further comprising a support member that supports the transmission body so as to be movable in a direction of a force applied between the two points. A vibration damping system comprising the vibration damping device according to claim 9 or 10 provided between two points of a structure,
The two points are present between the curve top of the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable and the curve bottom existing next thereto, or the end point of the structure and next thereto. A vibration control system selected between the curve top and the curve bottom.   12. The vibration damping system according to claim 11, wherein the two points are selected such that a point where the distance differentiation is zero is located between the two points. A vibration damping system comprising the vibration damping device according to claim 9 or 10 provided between two points of a structure,
One of the two points is selected between a point where the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable is zero and the curve top closest to the zero point. Select the other point near the point on the curve top opposite to the point where the distance derivative is zero, or one of the two points is zero when the distance derivative is zero A vibration damping system characterized in that it is selected between the curve bottom closest to the point and the other point is selected in the vicinity of the opposite side of the curve bottom where the distance differentiation is zero. A vibration damping system comprising the vibration damping device according to claim 9 or 10 provided between two points of a structure,
The two points are in the vicinity of the curve top of the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable and the curve bottom near the adjacent point, or near the end point of the structure and the adjacent point. The vibration control system is characterized by being selected near the curve top or the curve bottom. In a vibration detection device that detects vibration generated in the structure by detecting a compression force or an extension force generated between two points of the structure,
Two supporting means to which the compressive force or the stretching force is applied, both attached to the structure, or one attached to the structure and the other part of the structure;
At least one transmitter for transmitting the compression force or the extension force between the two support means directly or indirectly to the piezoelectric element;
A piezoelectric element that converts the force transmitted by the transmission body into an electrical signal;
A vibration detection apparatus comprising:   The vibration detecting apparatus according to claim 15, wherein a force of a predetermined magnitude is applied to the piezoelectric element through the support means in a non-operating state.   17. The vibration detection device according to claim 15, further comprising a support member that supports the transmission body so as to be movable in a direction of a compression force or an extension force applied between the two points. A vibration detection system comprising the vibration detection device according to any one of claims 15 to 17 and a vibration detection circuit,
The two points are present between the curve top of the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable and the curve bottom existing next thereto, or the end point of the structure and next thereto. Choose between the curve top or the curve bottom,
The vibration detection system receives a signal from the vibration detection device and detects vibration generated in the structure based on the signal.   The vibration detection system according to claim 18, wherein the two points are selected such that a point at which the distance differentiation is zero is located between the two points. A vibration detection system comprising the vibration detection device according to any one of claims 15 to 17 and a vibration detection circuit,
One of the two points is selected between a point where the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable is zero and the curve top closest to the zero point. Select the other point near the point on the curve top opposite to the point where the distance derivative is zero, or one of the two points is zero when the distance derivative is zero Choose between the curve bottom closest to the point and select the other point near the point opposite the point where the distance derivative of the curve bottom is zero,
The vibration detection system receives a signal from the vibration detection device and detects vibration generated in the structure based on the signal. A vibration detection system comprising the vibration detection device according to any one of claims 15 to 17 and a vibration detection circuit,
The two points are in the vicinity of the curve top of the distance derivative of the mode shape function with the position in the direction connecting the two points as a variable and the curve bottom near the adjacent point, or near the end point of the structure and the adjacent point. Select the curve top or near the curve bottom to
The vibration detection system receives a signal from the vibration detection device and detects vibration generated in the structure based on the signal.

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