JPH01275869A - Active type vibration control device - Google Patents

Abstract

PURPOSE:To prevent excess operation of a device, by installing separate vibration sensing instruments that sense respectively motions of a building and a weight, and by installing a phase adjustment instrument and an automatic gain control circuit in amplification circuits that are provided in parallel for each of response signals. CONSTITUTION:At the center of the top of a building body, a sensor S1 that senses acceleration of a weight (AMD) of a main vibration control device is installed and at the end of the building body, a sensor S2 that senses acceleration of the building center is installed. The detected signals are respectively transmitted to a control signal generating circuit. At an amplification circuit of the sensor S1, a phase adjustment instrument made of an integrating circuit is provided, and at an amplification circuit of the sensor S2, an automatic gain control circuit is provided. Output level of synthesized signals from both amplification circuits of the weight and the building is further adjusted by the automatic gain control circuit to control actuators of the hydraulic cylinder and other equipment. Consequently, overoperation of the device on an occasion of a large-scale earthquake can be prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an active vibration damping device for reducing vibrations caused in a building by external forces such as earthquakes and wind.

[Conventional technology]

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

Figure 3 shows an outline of an active vibration damping system. For example, a weight 2 is provided as an additional mass on the top of a building 1, substantially separate from the building 1, and the weight 2 and the building 1 are combined. A hydraulic cylinder as an actuator 3 is interposed between the two parts. When vibrations occur in the building 1 due to earthquakes, wind, etc., the sensor 4a installed in the building 1 senses the vibrations, sends a signal to the control circuit, and sends an output signal corresponding to the vibration of the building 1 to the actuator 3. The signal is sent to the connected servo valve to control the actuator 3. Note that by providing a sensor 4b also on the actuator 3 side, the movement of the actuator 3 can be controlled by feeding back. Additionally, although the above is closed-loop control, it can also be combined with open-loop control, which predicts and controls the building's response by analyzing seismic waves sent from wide-area and narrow-area seismometers.

[Problem to be solved by the invention]

By the way, in the mechanical part of the restraint device, there is a delay in response to the operating time signal due to naturally occurring friction and the like. Therefore, it is necessary to reduce these time delays.

Furthermore, earthquakes and wind are natural phenomena, and it is impossible to predict their scale in advance when designing equipment. Therefore, when determining the maximum performance of a device for frequent small to medium-sized earthquakes or typhoons with wind speeds of 15 m/s or less, it is necessary to prevent the device from overworking in the event of a large-scale earthquake. Must not be. Therefore, it is necessary to suppress the control force during large-scale building vibrations.

This invention aims to solve the above-mentioned problems in active damping devices.

[Means to solve the problem]

The active damping device of this invention basically outputs a control force in the opposite direction that is proportional to the vibration speed of the building.The signal from the vibration detection means installed in the building is amplified by an amplifier circuit, and the output control signal is By controlling the actuator and applying a control force to the building from the actuator by taking the reaction force from the weight, it is possible to suppress the vibration of the building.

In particular, in this invention, separate vibration detection means for sensing vibrations or movements of the building and the weight are provided, and separate amplification circuits are provided in parallel for response signals from both vibration detection means.

Mechanical time delays due to friction etc. are corrected by providing a phase adjustment means in the amplifier circuit. By providing an integrating circuit as a phase adjustment means, the phase can be shifted by 90 degrees, and a phase adjuster can adjust the phase in the range of 0 to 90 degrees. Therefore, the phase can be adjusted arbitrarily (
(within a range of ±180°).

In addition, the amplifier circuit for amplifying the response signal from the building side is equipped with an automatic gain adjustment circuit for adjusting the signal level, and the output level for the composite signal from both the building side and weight side amplifier circuits is An automatic gain adjustment circuit is provided to adjust the gain.

Note that by using an accelerometer as the vibration detection means, it is possible to sense minute vibrations and high-order vibrations, compensate for phase lag, and facilitate phase adjustment of the actuator together with the above-mentioned phase adjustment means.

[For production]

By providing a phase adjustment means in the amplifier circuit, mechanical time delays caused by friction or the like can be corrected.

Further, by providing an automatic gain adjustment circuit in the amplifier circuit for amplifying the response signal from the building side, the level of the signal 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. After all, regardless of the magnitude of the building's vibrations, the restraining device performs control within a certain range of capabilities, so during periods of large shaking, the weight moves almost integrally with the building (it is stationary relative to the building). ), the safety of the equipment is maintained without receiving a large force from the building, and when the earthquake etc. subsides and the vibration of the building decreases, the amplification factor of the response signal on the building side increases again due to the action of the automatic gain adjustment circuit. This allows control to effectively suppress building vibrations.

Furthermore, as for the output of the composite signal, since the output level of the composite signal is further adjusted by an automatic gain adjustment circuit, the restraining 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 capacity of the restraining device, it should be controlled within the capacity of the restraining device, and if the vibration is even larger, the relative movement between the weight and the building should be reduced. This ensures the safety of the equipment.

In addition, by combining with seismic isolation structures, dynamic vibration absorbers, other restraining devices, etc., to suppress building vibrations, the range of application can be greatly expanded.

〔Example〕

Next, specific examples will be described.

FIG. 2 is a conceptual diagram of the signal hydraulic system of the active damping device of the present invention, and shows the weight of the restraint device [AM D (Ac
(abbreviation for tive mass driver)] and an accelerometer (Sl,
32) is provided to send a response signal to the control signal generation circuit.

After phase adjustment and amplification are performed by the control signal generation circuit as described later, the control signal is sent to the comparison circuit. On the other hand, the sensor that detects the movement of the weight also sends an output signal to the comparison circuit, which performs 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 akinemulator 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 restraint device to suppress vibrations in the building.

FIG. 1 shows a control signal generation circuit as a block diagram.

In this embodiment, as shown in Fig. 4, in addition to the main restraint device (designated AMD 1 in the diagram), an auxiliary restraint device (designated AMD 2 in the diagram) is installed at the end of the building. ), and an auxiliary restraint device is used to control the torsional vibration component.

In Figure 1, input 1 is the acceleration of the weight of the main restraint device installed at the center of the top of the building, which is sensed by sensor Sl (see Figure 4), and input 2 and input 4 are the acceleration of the weight of the main restraint device, which is sensed by sensor S2. Acceleration at the center of the top, input 3 is the acceleration of the weight of the auxiliary restraint device installed at the top end of the building, which is detected by sensor S3, and input 5 is the acceleration at the top end of the building, which is detected by sensor S4. be.

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 acceleration, which is 90° out of phase with the speed, but since mechanical parts such as hydraulic cylinders have mechanical delays due to friction and other factors, the phase is adjusted by 90° using an integral circuit as necessary. Adjustment is performed in the range of 0 to 90° using a phase adjuster. The signal level is then adjusted by an amplifier.

Similarly, the input 2 has minute vibration components and noise removed, the phase is adjusted, and then 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 vibration of the building.

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

The weight of the restraining device must be driven within the capacity of the device, and there is a limit to its amplitude.However, vibrations on the building side vary from small accelerations to large accelerations depending on the scale of the earthquake. 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, control is performed that is 90° out of phase with the vibration of the building, whereas when the acceleration on the building side is large, control approaches the movement of the building, and Since the acceleration is large, the control is performed almost in sync with the vibration of the building, that is, the hydraulic cylinder does not operate, 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
Furthermore, the signal 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 restraining device.

The restraint device can be installed in the two orthogonal X and Y directions of the building, but it is also possible to install an auxiliary restraint device at the end of the building as shown in Figure 4 to control torsional vibration. .

Input 3 is the acceleration of the weight of the auxiliary restraint device and is regulated by an amplifier circuit similar to 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 synthesis amplifier, and the same adjustment operation as input 2 above is applied to the torsional vibration component. is combined with the input 3 signal that has passed through the amplifier circuit, and then passes through the automatic gain adjustment circuit.
A control signal for the weight of the auxiliary restraint device is output.

〔Effect of the invention〕

In this invention, by providing the phase adjustment means in the amplifier circuit, it is possible to correct mechanical time delays due to friction and the like regarding the operation of actuators such as hydraulic cylinders.

In addition, by installing an automatic gain adjustment circuit in the amplifier circuit for amplifying the response signal from the building side, the level of the signal when combined with the amplified response signal from the weight side is adjusted, which increases the vibration of the building. When this happens, the amplification factor of the response signal on the building side decreases, and the restraining device is virtually inoperable during periods of strong shaking.
Since the weight remains stationary relative to the building, the equipment remains safe without receiving large forces from the building.
When the earthquake, etc. subsides and the vibration of the building becomes smaller, the amplification factor of the response signal on the building side increases again due to the action of the automatic gain adjustment circuit, and the control force is applied in the direction of suppressing the vibration of the building. You can speed up the decay.

Furthermore, since the automatic gain adjustment circuit further adjusts the output of the control signal, the restraining device is protected from excessive movement even in the event of excessive vibrations in the building.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing an example of the signal generation circuit of an active damping device to which the present invention is applied, Fig. 2 is a conceptual diagram of the signal hydraulic system of the active damping device, and Fig. 3 is an active damping device. FIG. 4 is an explanatory diagram showing an outline of the device, and FIG. 4 is a plan view showing an example of arrangement of a restraining device for suppressing torsional vibration. 1...Building body, 2...Weight, 3...Hydraulic cylinder, 4a, 4b...Sensor Figure 3 No.1 Figure 4

Claims (3)

[Claims] (1) Active type consisting of a weight that is movable relative to the building, an actuator interposed between the weight and the building, and a control circuit that generates a control signal to control the actuator in response to vibrations of the building. In the vibration damping device, separate vibration detection means for sensing vibration or movement of the building and the weight are provided for the building and the weight, separate amplification circuits are provided in parallel for the response signals from both vibration detection means, and both amplification circuits are provided in parallel. The circuit is provided with a phase adjustment means for correcting the mechanical delay in the movement of the weight with respect to the vibration of the building, and the amplifier circuit for amplifying the response signal from the building side is provided with an automatic means for adjusting the signal level. An active damping device comprising a gain adjustment circuit and an automatic gain adjustment circuit that adjusts the output level of the composite signal from both of the amplification circuits. (2) The active damping device according to claim 1, wherein the vibration detection means is an accelerometer. (3) The active damping device according to claim 1, wherein the phase adjustment means comprises an integrating circuit and a phase adjuster.