JP3137054B2 - Hybrid damping floor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hybrid in which a passive seismic isolation device and an active vibration control device are combined to effectively suppress the vibration of a floor set due to an external force such as an earthquake by a minimum energy supply. It is related to the damping floor.

[0002]

2. Description of the Related Art As shown in FIG.
Is separated from the structural floor 3 to reduce the acceleration of the floor set 4 when a large earthquake occurs and to prevent the furniture, exhibits, and other equipment on the floor set 4 from collapsing or being damaged. Seismic isolation floor A is being developed.

[0003] However, the seismic isolation floor structure incorporating the passive seismic isolation device 5 (oil damper, ball bearing, laminated rubber, etc.) has the following disadvantages.

[0004] The seismic isolation floor of a building having a long-period vibration mode (such as a skyscraper) has an extremely large relative displacement (stroke) between the floor set 4 and the structural floor 3 and is difficult to realize.

It is difficult to uniformly improve the efficiency of vibration control with respect to external forces including various vibration components.

Therefore, as shown in FIG. 4, a driving device 6a such as an actuator for connecting the structural floor 3 and the floor set 4 is arranged in parallel with the floor set 4, and is activated by control means 6b such as a computer and a control circuit. Vibration control methods have recently been studied.

However, the active vibration damping device 6 is difficult to realize because it requires a large control force and control energy. In particular, there has not yet been developed a device capable of sufficiently controlling vibrations against a large earthquake.

[0008]

As described above, conventional vibration damping devices are roughly divided into two types, active and passive.
There are two forms, but each has its limitations.

That is, the passive seismic isolation device has a performance limit, and a large damping effect cannot usually be expected.

Although the active damping device can theoretically increase the damping effect as much as possible, the control energy required is enormous.

The present invention makes up for such a disadvantage of the prior art, and provides a hybrid vibration control floor which can effectively suppress the vibration of the floor set with a minimum energy supply and can cope with a large earthquake. It is intended to provide.

[0012]

As shown in FIG. 1, in a hybrid vibration control floor according to the present invention, a structural floor 3 of a building frame and a floor set 4 supported so as to be movable relative to the structural floor 3 in a horizontal direction. In the meantime, a passive seismic isolation device 5 having a damper function such as an oil damper or a laminated rubber, and an active vibration damping device 6 for suppressing relative vibration between the structural floor 3 and the floor set 4 according to vibration are arranged in parallel. Alternatively, the passive seismic isolation device 5 is used for absorbing vibration energy, and the active vibration damping device 6 is used for enhancing the damping effect.

[0013] Thus, a combination of active vibration control apparatus 6 and the passive seismic isolation device 5, the damping coefficient c _d given by the passive vibration isolating apparatus 5, wherein the described later [6] (請
If it is set appropriately so as to apply to Equation 1 of Equation 1), as can be seen from the relationship of Equation 5,
It is possible to control the passive seismic isolation device 5 to absorb substantially all of the energy input to the entire building by external force (for example, seismic force) acting from the outside. In this case, the control energy required for the active vibration control device 6 is In theory (Enel
(In an ideal state without Gyros), it becomes zero. That is,
Active earthquake damping device 6
Active seismic control in the time until the control of the vehicle is completed
The energy consumed by the device 6 can be minimized.

At this time, the control force and control power required for the active vibration damping device 6 including the driving device 6a such as an actuator and the control means 6b including a computer or an electric control circuit are also minimized. Can be. Actually, when the drive device starts up,
Control energy depending on the vibration characteristics of each earthquake.
Supply of energy is needed.

As the driving device 6a, a hydraulic or electric actuator, a linear motor or the like used in a conventional active vibration control floor or various active vibration control devices can be used.

Next, the operation of the present invention will be described.

First, FIG. 5 shows an example of the vibration reduction effect of the passive seismic isolation floor A of FIG. With passive seismic isolation floor A, floor group 4
There is a disadvantage that the relative displacement (stroke) becomes large because a phase difference is generated in the vibration between the object and the structural floor 3.

Therefore, a driving device 6a such as an actuator is installed as shown in FIG.
Vibration control can be performed such that the relative displacement is reduced.

At this time, since the active control force can be generated independently of the response value, a high vibration control effect can be obtained as shown in FIG.

However, in the case of such an active damping floor B, an extremely large energy margin is required because the active damping device 6 must consume all of the energy input to the building by external force.

On the other hand, as shown in FIG. 1, in the hybrid vibration control floor C using the passive seismic isolation device 5 and the active vibration control device 6 together, the height is as high as can be expected from the active vibration control floor B shown in FIG. A vibration control effect can be obtained.

Further, in the case of such a hybrid vibration control floor C, since the vibration energy input to the structure by external force can be consumed by the passive vibration isolator 5, the energy consumption of the active vibration control device 6 can be reduced. It can theoretically be zero.

Next, based on this principle, the passive seismic isolation device
For example, a case where a damping force proportional to the speed is generated, such as an oil damper, a high damping laminated rubber, and a viscous damper, will be described more specifically.

FIG. 2 shows the structure of the floor set 4 above the structural floor 3 as a dynamic model for the hybrid vibration control floor C of the present invention. In FIG. 2, M is floor assembly weight, x is the floor assembly and the structural floor of the relative displacement during vibration, y absolute displacement, c _d is the damping coefficient given by the passive isolator structure floor in vibration, u ( t) represents the control force by the active vibration control device, and k _d represents the spring constant.

When the equation of motion is described, the following equation (Equation 2) is obtained.

[0026]

(Equation 2)

Here, u (t) is a control force from the driving device. At this time, if you seek instantaneous power balance,
The following equation (Equation 3) is obtained.

[0028]

(Equation 3)

When this power balance is integrated from the occurrence of the earthquake (time is set to zero) to the end of the earthquake (time is set to T), a balance equation of energy consumption (Equation 4) is obtained.

[0030]

(Equation 4)

When T becomes infinity in the above equation (Equation 4), naturally, both the vibration of the building and the vibration of the floor settle down, so that both the kinetic energy and the vibration energy become zero. Therefore, the energy consumption balance equation at the time of completion of the control is as follows:

[0032]

(Equation 5)

Here, the first term on the left side is the energy consumed by the passive seismic isolation device. The second term is the energy consumed by the drive.

[0034] The right side is the energy input to the entire damping floor system due to the earthquake.

[0035] Here, if the damping coefficient c _d passive isolator is to have been previously set to a value determined by the following equation [6], the energy actuator occurs becomes zero at the time of completion of the control.

[0036]

(Equation 6)

That is, the damping coefficient c _{d of the} passive seismic isolation device
When the value of the above equation (Equation 6) is satisfied, all the energy input by the earthquake is consumed by the passive seismic isolation device, so that the load on the drive device of the active vibration damping device is minimized.

Assuming that the damping coefficient of the passive seismic isolation device is set to the above value, it can be proved that the control energy from the driving device finally becomes zero.
By substituting equation (5) into equation (5), the energy term of the actuator becomes zero, which can be understood.

As described above, the driving device of the active vibration damping device sufficiently enhances the vibration reduction effect, and at the same time, efficiently transmits the vibration energy to the passive seismic isolation device, and the vibration energy consumed by the driving device is reduced at the end of the control. Becoming zero is the basic principle of the present invention.

Although the above description has been made on the assumption that the passive seismic isolation device is a device that generates a damping force proportional to the speed, for the sake of easy understanding, other passive seismic isolation devices, for example, have a speed The same can be considered for the case where a damping force proportional to the power of is generated.Similarly, by setting the damping coefficient to a certain appropriate value, all of the energy of the input external vibration can be passively isolated. Prove that it can be consumed by the device.

The control law of this hybrid vibration control floor may adopt any control law, and satisfies the equation (6) even if any active control algorithm is used as u (t) of the control law. Control energy converges to zero if a damping coefficient (when the passive seismic isolation device is a device that generates a damping force proportional to speed) or a damping coefficient according to the device characteristics of the passive seismic isolation device is set in advance. However, control power, control energy, and control power can be minimized.

Actually, it is necessary to supply a certain amount of control energy at the time of startup of the driving device, the device characteristics, and the vibration characteristics of individual earthquakes.

[0043]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, as an analysis example, when actual control is performed, the vibration reduction effect that can be expected with the passive seismic isolation floor and the vibration reduction effect that can be expected with the active and hybrid vibration control floors will be described. The comparison and the control power and control power required for the active vibration control device and the control power and control power required for the hybrid vibration control floor will be compared.

FIGS. 5A and 5B show examples of conventional seismic response analysis of a passive base-isolated floor as a comparative example. FIG. 5A shows the acceleration of a floor group and FIG. 5B shows the relative displacement between the floor group and the structural floor. Is plotted with time (seconds) on the horizontal axis.

FIG. 6 shows an example of seismic response analysis of a conventional active damping floor as a comparative example, where (a) shows the acceleration of the floor group and (b) shows the relative acceleration of the floor group and the structural floor. It shows the displacement. The input earthquake motion is the same as in FIG. The hybrid vibration control floor according to the present invention also has the same effect as the active vibration control floor with regard to the vibration reduction effect.

When FIG. 5 (a) is compared with FIG. 6 (a), the maximum response acceleration of the floor set of the active damping floor or the hybrid damping floor is about 1/2 that of the passive damping floor. You can see that it has become.

When comparing FIG. 5 (b) and FIG. 6 (b), the maximum response displacement (relative displacement) of the active seismic floor or the hybrid seismic floor is the same as that of the passive seismic floor. It can be seen that it is about 1/2 of the case.

FIG. 7 shows an example of control of a conventional active damping floor as a comparative example, in which (a) shows the required control force, (b) shows the required control power, and the horizontal axis represents time. (Seconds).

FIG. 8 shows an example of control of the hybrid vibration control floor of the present invention. FIG. 8 (a) shows the necessary control force.
(b) shows the required control power.

When FIG. 7 (a) and FIG. 8 (a) are compared, the maximum control force required for the hybrid vibration control floor is 1/10 or less of the maximum control force required for the active vibration control floor. It turns out that it is.

When comparing FIG. 7 (b) and FIG. 8 (b), the maximum control power required by the hybrid vibration control floor is 1 / the maximum control power required by the active vibration control floor. It can be seen that it is 35 or less.

From these analysis results, it can be seen that the hybrid vibration control floor requires little control energy and has an extremely large vibration reduction effect as compared with the passive seismic isolation device.

[0053]

According to the present invention, a large vibration reduction effect can be expected as compared with the conventional passive base isolation floor.

Conventional active vibration control floors require an excessive amount of control energy, and the scale of an earthquake that can be effectively controlled is limited in relation to the performance of the apparatus. Energy can be minimized, and control can be performed in response to large earthquakes.

[Brief description of the drawings]

FIG. 1 is a schematic view showing the principle of a hybrid vibration control floor of the present invention.

FIG. 2 is an explanatory diagram of a dynamic model of a hybrid vibration control floor of the present invention.

FIG. 3 is a schematic diagram showing the principle of a conventional passive base isolation floor.

FIG. 4 is a schematic diagram showing the principle of a conventional active vibration control floor.

5A and 5B show examples of conventional seismic response analysis of a passive base-isolated floor as a comparative example, wherein FIG. 5A is a graph showing acceleration of a floor group, and FIG. 5B is a graph showing a relative displacement between a floor group and a structural floor. It is a graph shown.

FIG. 6 shows an example of an earthquake response analysis of a conventional active damping floor as a comparative example (the same applies to the case of the hybrid damping floor of the present invention), and (a) shows acceleration of the floor group. The graph (b) is a graph showing the relative displacement between the floor group and the structural floor.

FIG. 7 shows an example of control of a conventional active damping floor as a comparative example, in which (a) is a graph showing a required control force,
(b) is a graph showing the required control power.

FIGS. 8A and 8B show examples of controlling the hybrid vibration control floor of the present invention, wherein FIG. 8A is a graph showing a required control force, and FIG. 8B is a graph showing a required control power.

[Explanation of symbols]

A: Passive seismic isolation floor, B: Active vibration control floor, C: Hybrid vibration control floor, 1 ... pillar, 2 ... beam, 3 ... structural floor, 4 ...
Floor group, 5: passive seismic isolation device, 6: active vibration control device, 6a: drive device, 6b: control means, 6c: motor power control device, 7: sensor

──────────────────────────────────────────────────続 き Continuing on the front page (72) Koji Ishii, Inventor 2-9-1, Tobita-Shi, Chofu-shi, Tokyo Kashima Construction Co., Ltd. (72) Yoshinori Matsunaga 2-9-1, Tobita-Shi, Chofu-shi, Tokyo No. Kashima Construction Co., Ltd. (72) Katsuyasu Sasaki, Inventor 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Kashima Corporation (72) Inventor Yoshitaka Suzuki 1-2-2, Moto-Akasaka, Minato-ku, Tokyo 7 Kashima Construction Co., Ltd. (72) Inventor Ryuta Katamura 2-9-1-1, Tobita-Shi, Chofu-shi, Tokyo Kashima Construction Co., Ltd. Technical Research Institute (56) References JP-A-7-62842 (JP, A JP-A-2-289756 (JP, A) JP-A-1-96544 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) E04F 15/18 E04H 9/02

Claims (4)

(57) [Claims] And the structural floor as claimed in claim 1] building structures, and floor assembly which is supported relatively movably in the horizontal direction with respect to the structural floor, the structural floor
Seismic isolation device having a damper function for connecting between a floor set and a floor set, and a drive device and control means for applying a control force for suppressing vibration according to the vibration of the structural floor and the floor set Ri Do from the device, the damping coefficient c _d of the passive seismic isolation device, for the structural floor and the floor of sets of vibration by the vibration force, the following equation ## EQU1 ## (Where x is the relative displacement between the floor set and the structural floor during vibration, y is the absolute displacement of the structural floor during vibration, and M is the weight of the floor set). Crater. 2. A passive isolator, the hybrid vibration control bed according to claim 1 Symbol mounting an oil damper. 3. The hybrid vibration control floor according to claim 1, wherein the passive seismic isolation device is a laminated rubber. 4. A driving device of an active vibration control apparatus, according to claim 1 or a hydraulic actuator or electric
Or the hybrid vibration control floor described in 3 .