JPH05214844A - Vibration controller for structure - Google Patents

Abstract

(57) [Abstract] [Purpose] An object of the present invention is to provide a vibration control device capable of simultaneously performing vibration control in both the horizontal direction and the twisting direction by a pair of damping gyro devices. [Structure] A pair of vibration damping gyro devices A and B are installed at predetermined positions such as the top of a structure with their supporting axes parallel to each other with a predetermined space therebetween. An electric motor 8 is connected to one supporting beam 4 of the vibration damping gyro device, and an inclinometer 7 is attached to the other supporting beam 4. The inclinometer 7 is connected to the controller 9 and constantly supplies the controller 9 with a signal corresponding to the detected inclination angle θ of the rotating body 1. Further, a pair of speedometers 10 are installed on the structure 5. The controller 9 obtains a horizontal bending moment and a torsion moment to be generated at that time, and further obtains angular velocities Ω _{1 and} Ω ₂ by the signals input from the pair of speedometers 10.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration control device for structures such as high-rise buildings and towers, and more particularly to a vibration control device capable of simultaneously reducing horizontal vibration and torsional vibration by using a gyro mechanism.

[0002]

2. Description of the Related Art As a device for controlling the vibration generated by an external force such as a wind or an earthquake acting on a structure, a gyro mechanism disclosed in, for example, Japanese Unexamined Patent Publication No. 3-81476 is known. A vibration control device for structures utilizing the principle is known. In this device, a rotating shaft of a rotating body that rotates at a high speed at a constant speed is rotatably supported by a frame, and the frame is supported by an axis line in a horizontal direction orthogonal to the rotating shaft of the rotating body. It uses a vibration control gyro device that is rotatably supported by a structure via a support base.

In this vibration control device, for example, when controlling horizontal vibration of a structure, the vibration control gyro device is structured in a state in which the rotating body is rotated at a high speed in advance in a horizontal plane (position where the tilt angle is zero). If the structure and the rotating body are rotationally deformed at a predetermined angular velocity by an external force input from the X-axis direction, the direction orthogonal to the angular velocity vector, That is, a predetermined moment is generated in the Y axis direction (around the X axis). Due to this moment, a rotational motion (precession motion) of a predetermined angular velocity is generated around the X axis, that is, around the support axis with respect to the rotating body,
In the direction orthogonal to the angular velocity, that is, around the Y axis, a damping moment proportional to the angular velocity is generated in the opposite direction to the rotational deformation occurring in the structure, and the damping moment is generated through both the support bases. Input to the object to reduce the rotational deformation occurring in the structure.

This damping moment is generated following the rotational deformation of the structure which is repeated in normal and reverse directions due to the vibration, thereby reducing the vibration input to the structure. Since the angular velocity generated around the support axis is a passive variable determined according to the angular velocity due to the rotational deformation of the structure, the magnitude of the damping moment generated is limited, and when a large external force acts on the structure. It is not possible to generate a vibration damping moment of a magnitude corresponding thereto.

On the other hand, the inventor of the present application amplifies the angular velocity around the support shaft by a drive motor or the like which is a rotary drive means, as described in, for example, Japanese Patent Application No. 2-283616. Discloses a method of increasing the value of the damping moment. However, the damping moment generated by the precession motion of the rotating body of the damping gyro device as described above acts as a vertical force (couple force) on the structure via the support base to suppress the vibration. Although it is a force, the force forming the couple does not always act in the vertical direction on the structure, and part of it depends on the inclination angle θ of the rotating body with respect to the horizontal plane at that time. It is the horizontal force (torsion moment) that causes the twisting motion.

In order to eliminate this, in the conventional device, two vibration damping gyro devices having half the performance of the above vibration control device are installed separately, and the rotating bodies of the two devices are mutually installed. While rotating at a high speed in the opposite direction to cancel the torsional moment, another vibration control device having the same performance is installed on the structure with the supporting shafts of the device and the supporting device in parallel with each other, and By rotating in the opposite direction and generating the same angular velocity in the rotating bodies of both devices, the above-mentioned twisting moment is offset, and only the horizontal damping moment is applied to the structure.

Further, for damping control of torsional vibrations of a structure, the vibration damping gyro device is installed in the structure so that the rotating body rotates at high speed in the vertical plane, and the vibration occurs in the structure. Due to the twisting moment, the rotating body precesses in the same manner as described above, and a torsional moment for vibration damping proportional to the angular velocity of the precession is generated to reduce the torsional vibration of the structure.

[0008]

However, in the above-mentioned conventional vibration control device, since the vibrations in the respective directions are individually controlled by the separate vibration damping gyro devices, the horizontal vibrations are suppressed. Therefore, at least two vibration suppression gyro devices are required, and at least one vibration suppression gyro device is required to suppress torsional vibrations. Therefore, it is attempted to simultaneously suppress horizontal vibration and torsional vibration. Then, there is a problem that at least three damping gyro devices are required, and a wide space is required to install the vibration control device on the structure.

The present invention has been made in view of the above problems, and provides a vibration control device capable of simultaneously performing vibration control in both the horizontal direction and the twisting direction by a pair of vibration damping gyro devices. Has a purpose.

[0010]

In order to achieve the above object, a vibration control device for a structure according to the present invention rotates a rotating body rotating at a high speed around a support shaft which is orthogonal to the rotating shaft and is horizontal. A gyro device for vibration damping that is supported as much as possible is installed in the structure to cause a precession motion around the support axis in the rotating body, and a damping moment generated in proportion to the angular velocity of the precession motion causes In a vibration control device for reducing the vibration of a structure, a pair of the above-mentioned vibration-damping gyroscopes, in which mutually rotating bodies rotate in opposite directions and mutual support axes are arranged in parallel, and for both vibration-damping gyro devices. Two angle detecting means for respectively detecting the inclination angle of each rotating body of the gyro device with respect to the horizontal plane,
Two rotary motion drive means for rotationally driving each of the rotary bodies around the support axis, vibration detection means for detecting horizontal motion and twist motion of the structure, the angle detection means, rotary motion drive means, and vibration detection. And a signal corresponding to the tilt angle of each rotating body is input from the angle detection means, and the deformation moment generated in the structure is canceled based on the signal input from the vibration detection means. Calculate the horizontal damping moment and torsion moment required for
When calculating the angular velocity to be generated in each rotating body to generate the vibration damping moment, a difference is given to the values of the angular velocity to be generated in both rotating bodies so that the calculated torsional moment can be generated. And a controller which supplies each of the rotary motion drive means with a drive command of a rotational torque of an amount corresponding to the calculated angular velocity.

Further, a vibration control gyro device, which supports a rotating body rotating at a high speed so as to be rotatable about a horizontal support shaft which is orthogonal to the rotating shaft, is installed in a structure, and the rotating body is mounted on the rotating body. In a vibration control device that reduces the vibration of a structure by a damping moment that is generated in proportion to the angular velocity of the precession that causes precession about the support axis, the rotating bodies rotate in opposite directions. And a pair of the vibration damping gyro devices arranged with their supporting axes parallel to each other, two angle detecting means for detecting the inclination angles of the respective rotating bodies of the vibration damping gyro devices with respect to the horizontal plane, respectively. Two rotary driving means for rotating each rotating body around the supporting axis, two rotating body driving means for driving each rotating body around the rotating shaft at high speed, and horizontal movement and twisting movement of the structure. Vibration to detect Vibration detection is performed by connecting the output means to the angle detection means, the rotary motion drive means, the rotary body drive means, and the vibration detection means, and inputting a signal according to the tilt angle of each rotary body from the angle detection means. Based on the signal input from the means, the horizontal damping moment and the torsional moment required to cancel the deformation moment generated in the structure are calculated, and both damping forces required to generate both moments at the same time are calculated. The product value of the rotational angular velocity of each rotating body and the angular velocity around the support axis in the vibration gyro device is obtained, and the rotational angular velocity and the support shaft of the rotational body of each vibration damping gyro device that becomes the value of each product obtained are obtained. The respective angular velocities of the surroundings are respectively determined, and the rotational drive commands of the torque amounts corresponding to the respective angular velocities around the support axis that are calculated are supplied to the respective rotary motion drive means, and the calculated rotational angular velocities are It may be a vibration control device of a structure, wherein a command to change the rotation angular velocity of the rotating body and a controller for supplying to the respective rotary body drive means.

[0012]

In one vibration-damping gyro device, when a predetermined torque for rotating around the support shaft is input to the rotating body rotating at high speed, the rotating body uses the supporting shaft as the rotating shaft, which is proportional to the torque. Rotation motion (precession motion) with a predetermined angular velocity
Occurs, a damping moment M proportional to the angular velocity of the precession of the support axis is generated.

This damping moment M is expressed by the following equation. M = Ω · I · ω where Ω: angular velocity around the support axis of the rotating body I: mass rotational moment of inertia about the rotating axis of the rotating body ω: rotational angular velocity of the rotating body This damping moment M depends on the structure. On the other hand, it acts as a vertical force (couple), and serves as a damping force that reduces the deformation moment due to the vibration generated in the structure. However, the force forming the couple does not always act in the vertical direction on the structure, and when the damping moment M is generated, the rotating body has a predetermined inclination angle θ with respect to the horizontal plane at that time.
When it is tilted at, the damping moment M is as shown below, and the damping moment M _{H in the} supporting axis direction, that is, in the horizontal direction is as follows.
And the twisting moment Mτ that causes a twisting motion in the structure. M _H = M · cos θ = Ω · I · ω · cos θ Mτ = M · sin θ = Ω · I · ω · sin θ In the present invention, two damping gyro devices are installed. The M _H and the twisting moment M τ are expressed as the following formulas as a combination of the moments generated from both the vibration damping gyro devices. _MH = Ω ₁ · I ₁ · ω ₁ · cos θ ₁ − Ω ₂ · I ₂ · ω ₂ · cos θ ₂ M τ = Ω ₁ · I ₁ · ω ₁ · sin θ ₁ + Ω ₂ · I ₂ · ω ₂ · sin θ ₂ Here, Ω ₁ , I ₁ , and ω ₁ respectively represent the angular velocity around the support axis, the mass rotational inertia moment, and the rotational angular velocity in the rotating body of the one vibration damping gyro device. Further, Ω ₂ , I ₂ , and ω ₂ respectively represent the angular velocity around the support axis, the mass rotational inertia moment, and the rotational angular velocity in the rotating body of the other vibration damping gyro device.

Since the rotating bodies of the vibration damping gyro devices rotate in opposite directions, ω ₁ and ω ₂ have opposite signs. In the past, the set values of the performance of the pair of vibration damping gyro devices were set to be the same, and the torsional moment generated by making the angular velocities generated in both rotating bodies the same was offset. In the present invention, a difference is provided between the angular velocities generated in both rotating bodies to positively generate a twisting moment to reduce the horizontal movement (translational movement) generated in the structure due to the vibration, and the twisting movement generated in the structure. Also produces a twisting moment that reduces.

Based on the above principle, in the present invention, when an external force such as a wind or an earthquake is input to a structure to cause horizontal motion or twisting motion in the structure, the horizontal motion or twisting motion is applied to the structure. A vibration detection means installed, for example, a sensor including a pair of speedometers and accelerometers detects the vibration, and a signal corresponding to the detected value is supplied to the controller. Based on the signal, the controller calculates a bending moment and a torsion moment in the horizontal direction that are occurring in the structure at that time, and generates a bending moment M _H and a torsion moment Mτ that cancel the both moments. Therefore, the angular velocity around the support axis generated in both rotating bodies is obtained from the above equation.

Here, the mass rotational moment of inertia and the rotational angular velocity of the rotating bodies of both rotating bodies are constant in advance. The angle detector constantly supplies the controller with the inclination angle of the rotating body with respect to the horizontal plane. Further, the controller issues a drive command to the rotary drive unit to generate a predetermined rotation torque for rotating the rotating body with the support shaft as the rotation axis so that each of the calculated angular velocities is generated.

The rotary drive means causes each of the rotating bodies to perform precession motion at different angular velocities by rotationally driving the rotating bodies around the support shaft with a predetermined torque. As a result, the necessary horizontal damping moment and torsional damping moment are generated at the same time, and due to the vibrations generated in the structure,
Bending moment and torsion moment at that time are reduced.

This is done for the bending moment and the torsional moment which are repeatedly generated in the normal and reverse directions due to the vibration, and reduces the vibration of the structure. In addition, in the device described in claim 2, the product values Ω ₁ · ω ₁ and Ω ₂ · ω ₂ of the rotational angular velocity of the rotating body of each damping gyro device and the angular velocity around the support axis are respectively obtained. Variables S ₁ = Ω ₁ · ω ₁ , S ₂ = Ω ₂
・ If we consider ω ₂ , the above equation is expressed as follows. M _H = S ₁ · I ₁ · cos θ ₁ − S ₂ · I ₂ · cos θ ₂ M τ = S ₁ · I ₁ · sin θ ₁ + S ₂ · I ₂ · sin θ _{2 From} these two equations, both moments M _H, M τ The product values S ₁ and S _{2 for generating} are calculated, the product value is appropriately divided into the rotational angular velocity and the angular velocity for each product value, and the rotational angular velocity of each rotating body is changed to be that value. At the same time, the rotating body is rotated with a torque capable of generating the calculated angular velocity.

According to the invention of claim 2, based on the above principle,
Based on the signal from the vibration detecting means, the controller obtains the bending moment _MH and the torsion moment Mτ for damping similarly to the above, and further obtains the product values S _{1 and} S ₂ from the above equations. Next, the controller divides the values S _{1 and} S ₂ into the rotational angular velocity of each rotating body and the angular velocity around the support axis, and transmits a drive command of torque according to the obtained angular velocity to each rotary drive means. At the same time, a command for changing the rotational angular velocity of each rotating body to the rotational angular velocity obtained above is issued to each rotating body driving means.

As a result, a rotational angular velocity of the rotor and an angular velocity around the support axis are generated in each rotor, which generate both moments necessary for damping the vibration, and the deformation moment of the structure at that time is reduced.

[0021]

Embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, this vibration control device comprises a pair of vibration damping gyro devices A and B which are installed at predetermined positions such as the top of a structure with a predetermined space therebetween. Explaining the configuration of the vibration control gyro devices A and B, which are the main parts of the respective vibration control devices installed in the above-mentioned structure, as shown in FIGS. 2 and 3, the outer peripheral portion is thicker than the inner peripheral portion. A thick disk-shaped rotating body 1 is arranged with a rotating shaft 2 facing up and down, and both upper and lower ends of the rotating shaft 2 of the rotating body 1 are on the central axis of a flat spindle-shaped frame 3. It is rotatably supported. On the outer periphery of the frame 3, support beams 4 are provided at both end sides in the support axis X direction which are orthogonal to the rotation axis 2 of the rotating body 1 and are horizontal, and extend in the support axis X direction. Are the support bases 6 fixed to the structure 5, respectively.
The rotator 1 is rotatably supported, so that the rotating body 1 is rotatable about the support axis X via the frame 3 and the support beam 4.

A rotary body driving motor 20 which is a rotary body driving means for driving the rotary body 1 to rotate at a high speed is connected to one of the rotary shafts 2 of the rotary body 1 to rotate the rotary body 1 at a constant speed. It is driven to rotate at high speed at angular velocity. An electric motor 8 which is a rotary drive means for rotating the rotary body 1 around the support axis X is connected to one of the support beams 4 of the vibration damping gyro devices A and B. The electric motor 8 is connected to the controller 9 and rotationally drives the rotary shaft 2 with a predetermined torque in accordance with a command supplied from the controller 9 to rotate the rotating body 1 around the support axis X at a predetermined angular velocity proportional to the torque. It is designed to rotate (precession) with Ω.

On the other side of the support beam 4, the rotating body 1
An inclinometer 7 is attached as an angle detecting means for detecting the inclination angle θ of the inclinometer 7 with respect to the horizontal plane.
Is connected to the controller 9 and constantly supplies the controller 9 with a signal corresponding to the detected inclination angle θ of the rotating body 1. A pair of vibration damping gyro devices A having the above-mentioned configuration,
B is equipped with an electric motor 8 and an inclinometer 7, and is arranged in the structure 5 such that the directions of the support axes X thereof are on the same axis as shown in FIG.

Both rotating bodies 1 of the pair of vibration damping gyro devices A and B have the same mass rotational moment of inertia and rotate at the same rotational angular velocity and in opposite directions at a constant high speed. Further, a pair of vibration detecting means is formed at right angles to the support axis X direction of the vibration damping gyro devices A and B and at the symmetrical position about the support axis X direction, that is, at the symmetrical position around the vibration damping gyro devices A and B. The speedometers 10 are installed on the structure 5, respectively. The pair of speedometers 10 is connected to the controller 9, detects the moving speed of the structure 5 due to vibration, and supplies a signal corresponding to the moving speed to the controller 9.

The controller 9 calculates the bending moment in the horizontal direction and the twisting moment about the vertical direction, which are occurring in the structure 5 at that time, based on the signals input from the pair of speedometers 10, and both of them are calculated. The horizontal bending moment and the twisting moment in the opposite directions that cancel out the moment are obtained, and at the same time, a signal corresponding to the tilt angle θ of each rotating body 1 input from the inclinometer 7 is input, and both vibration damping The angular velocities Ω _{1 and} Ω ₂ generated in the rotating body 1 of the gyro devices A and B are obtained, and a drive signal for generating a rotation torque corresponding to the angular velocities Ω _{1 and} Ω ₂ is supplied to each electric motor 8. M _H = I · ω (Ω ₁ · cos θ ₁ + Ω ₂ · cos θ ₂ ) ... (1) M τ = I · ω (Ω ₁ · sin θ ₁ −Ω ₂ · sin θ ₂ ) ・ ・ ・ (2) Here Where ω represents the absolute value of the angular velocity around the rotation axis 2 of the rotating body 1 of both damping gyro devices A and B, I represents the mass rotational moment of inertia of both rotating bodies, and θ ₁ and θ
_{In the} above vibration control device, 2 represents the inclination angle of each of the rotating bodies 1 with respect to the horizontal plane. In the vibration control device as described above, as shown in the flow of FIG. With no input to the structure 5,
Both rotating bodies 1 inputted from the inclinometer 7 which is an angle detecting means
The rotating body 1 is slowly rotated via the electric motor 8 so that the inclination angle of the rotating body 1 becomes zero (step 1).

As can be seen from the above formula (1), the smaller the tilt angle θ is, the larger the horizontal damping moment M _H given to the structure 5 is, and the rotating body 1 is 45 degrees or more during the damping control. This is to reduce the risk of tilting from the horizontal direction. In the above state, when an external force greater than a predetermined value due to wind, earthquake, etc. is input to the structure 5, the external force causes horizontal vibration in the support axis X direction and torsional vibration about the vertical direction in the structure 5 (step 2). Then, the moving speed of the structure 5 at the position where the vibration control device is installed is measured by the pair of speedometers 10 and supplied to the controller 9 (step 3).

The controller 9 obtains the horizontal moving speed and the twisting speed generated in the structure 5 based on the signals input from the pair of speedometers 10, and thereby obtains the current moving speed and the twisting speed. The horizontal bending moment and twisting moment generated in the structure 5 are calculated (step 4). Since the pair of speedometers 10 are installed symmetrically with respect to the supporting axis X of the vibration damping gyroscopes A and B, the vibration gyroscopes A and B that generate a vibration damping moment are not disposed. The horizontal bending moment and torsion moment generated in the structure 5 at the time of installation can be calculated based on the sum of the moving speeds input from the pair of speedometers 10 and the difference in the moving speeds.

Next, the controller 9 calculates the horizontal damping vibration moment M _H in the opposite direction and the twisting moment M τ in the twisting direction, which offset the above-obtained bending moment and twisting moment (step 5), and the values are calculated. Is substituted into the above equations (1) and (2) to calculate the angular velocities Ω _{1 and} Ω ₂ generated in each of the rotating bodies 1 of the vibration damping gyro devices A and B (step 6).

Here, the mass rotational inertia moment I _, and the rotational angular velocity ω of the rotating body 1 in the above equation are predetermined values, and the inclination angles θ _{1 and} θ ₂ of each rotating body 1 with respect to the horizontal plane are angles. This is the value that is always input from the detection means. Next, the controller 9 separately supplies the drive signals corresponding to the torques corresponding to the respective calculated angular velocities Ω _{1 and} Ω ₂ to the respective electric motors 8.

The electric motor 8 receives the drive signal supplied as described above.
The support beam 4 is driven to rotate with a torque commensurate with
3 through each of the rotating body 1 is proportional to the above torque
Angular velocity Ω_1,Ω₂To rotate (precession) (step
7). By this precession movement, both damping gyro devices A_,
Angular velocity given to B Ω_1,Ω ₂The moment corresponding to
Gyro device A for each vibration suppression that occurs in the X direction_,B support
Vertical force (couple) on the structure 5 via the platform 6.
To enter. At this time, each rotating body 1
The couple is inclined at a predetermined inclination angle θ.
, The horizontal damping moment M according to the above equation
_HAnd a damping moment Mτ in the twisting direction is generated (
Step 8), the time point due to the external force input to the structure 5
Bending moment and torsion moment are reduced.

The angular velocities Ω _1, Ω of the two rotating bodies 1 generated above
_With regard to No. ₂ , in the conventional case, the damping moment Mτ in the twisting direction was small, and it was controlled so that the angular velocities generated in the two rotating bodies 1 were equal so that it is preferably zero. Angular velocity Ω _1, Ω ₂ generated in both rotating bodies 1
By positively giving a difference to, the horizontal bending moment generated in the structure 5 at that time is reduced, and the torsional vibration generated in the structure 5 is simultaneously reduced.

The above process is repeated until the deformation moments in both the forward and reverse directions generated in response to the rotational deformation of the structure 5 caused by vibration are reduced to a predetermined value or less (step 9). The vibration input to the object 5 is reduced. When the vibration of the structure 5 becomes equal to or less than the predetermined value by the above processing, the vibration damping processing is stopped, and the rotating body 1 is slowly rotated around the support axis until the tilt angles θ _{1 and} θ _{2 of} each rotating body 1 become zero. Let

Further, when the tilt angles θ _{1 and} θ _{2 of the} rotating body 1 measured by the inclinometer 7 during the above-described vibration damping processing become a predetermined value or more, for example, 45 degrees or more, the horizontal vibration damping moment M. _{Since H} cannot be effectively generated, the above processing is stopped. At this time, the electric motor 8 serving as the rotating motion means
Is separated from the support beam 4 so that the conventional vibration damping process is performed by the passive angular velocity generated by the rotational deformation of the structure 5.

In the above embodiment, the support beam 4 is directly rotated by the electric motor 8 to rotate the rotating body 1 around the support shaft, but the rotary drive means is not limited to this. For example, it may be configured as shown in FIG. This is because the drive motor 12 is mounted on the central axis of the outer periphery of each frame 3, that is, on the lower structure 5 on the same plane as the rotary shaft 2, and the gears 13, 14 meshing with each other between the drive motor 12 and the frame 3. With
By rotating the frame 3 by rotating the drive motor 12, the rotating body 1 is driven to rotate about the support shaft. When the rotary drive means having such a structure is adopted, the force required to give a desired torque around the support shafts of the vibration damping gyro devices A _and B becomes smaller than that in the above embodiment.

Further, in the above embodiment, the pair of speedometers 10 are used as the vibration detecting means for measuring the vibration of the structure 5. However, the invention is not limited to this, and an accelerometer or a displacement gauge may be used. Alternatively, other known sensor combinations may be used, such as measuring vibration in the parallel direction with the speedometer and measuring torsional motion with a torsion meter. In the above embodiment, the mass rotational inertia moment and the rotational angular velocity of the rotor 1 of the two vibration damping gyroscopes A _and B are set to be the same, but the two vibration damping gyroscopes are used. The respective mass rotational moments of inertia and rotational angular velocities of the rotating body 1 of the gyro devices A and B do not necessarily have to have the same value, but may have different values.

Further, although the electric motor 8 is used as the rotary driving means for directly applying the torque to the support shaft, it is not limited to this, and other mechanism such as a hydraulic mechanism may be used. .. Further, in the above embodiment, the two vibration damping gyro devices are arranged so that both support shafts are aligned on the same axis, but the present invention is not limited to this, and the two vibration damping gyro devices are supported by the support shafts. May be arranged so as to be parallel to each other.

Next, the vibration control device of the second embodiment will be described. As shown in FIG. 6, in the vibration control device of the second embodiment, a controller 9 is connected to a rotor drive motor 20 that drives the rotor 1 of each vibration damping gyro device A, B to rotate at high speed. The rotational angular velocity of each rotating body 1 by the rotating body drive motor 20 can also be controlled by a command from the controller 9. The other structure is similar to that of the first embodiment.

In the first embodiment described above, the angular velocities Ω _{1 and} Ω ₂ generated in the rotating body 1 of both damping gyroscopes A and B when the horizontal damping moment M _H is generated are controlled as variables. Then, a torsion moment Mτ corresponding to the torsional movement is also generated. In the second embodiment, however, the rotational angular velocity input to both rotors 1 is also changed so that both damping moments M _H, This is to generate Mτ.

That is, the controller 9 is based on a signal from a vibration detecting means composed of a pair of sensors 10 such as a speedometer and the like. The torsion moment is calculated, and the bending moment M _H and the torsion moment Mτ for canceling both moments are calculated (step 20).

Then, the controller 9 calculates S ₁ and S ₂ which are the product values of the rotational angular velocities ω _{1 and} ω ₂ of the rotor _{1 and} the angular velocities Ω _{1 and} Ω ₂ around the support axis from the following two equations. (Step 21). _{M H = I · (S 1} · cosθ 1 - S 2 · cosθ 2) ··· (3) Mτ = I · (S 1 · sinθ 1 + S 2 · sinθ 2) ··· (4) where, Rotating body _{1 of} both damping gyro devices A _and B
Since ω ₁ and ω ₂ have opposite signs because they are rotating in opposite directions, the values of S ₁ and S ₂ also have opposite signs. Further, the values of the tilt angles θ _{1 and} θ ₂ of each rotating body 1 are values constantly supplied from the inclinometer 7.

Next, the controller 9 controls the product calculated above.
Value S_1,S₂The above product value S_1,S₂Each time
Rotational angular velocity ω of rolling element 1_1,ω₂And angular velocity around the support axis Ω
_1,Ω ₂To decide. Here, in the relation of S = ω ・ Ω
Therefore, if the rotational angular velocity ω is increased, the angular velocity Ω becomes smaller.
It will be the minimum value. Therefore, for example, the signal from the inclinometer 7
And the inclination angle θ of the rotating body 1_1,θ₂Seems to be close to the upper limit
Then, the rotational angular velocity ω is set larger and the value of the angular velocity Ω is set.
Set small to₁Inclination angle of_1,θ₂Small change
Processing such as cutting is possible.

Next, the controller 9 issues a command for changing the rotational angular velocities ω _{1 and} ω ₂ calculated above to the rotary body driving motor 20 which is each rotary body driving device (step 23), and at the same time, the respective rotary motion driving means. To the electric motor 8 which is a rotational driving command with a torque proportional to the calculated angular velocities Ω _{1 and} Ω ₂ (step 24). As a result, the rotary body drive motors 20 change the rotational angular velocities of the rotary bodies 1 to the calculated rotational angular velocities ω ₁ and ω ₂ , and the electric motor 8 serving as the rotary drive means has a torque corresponding to the drive signal. The support beam 4 is rotationally driven by, and the rotary body 1 is rotated at an angular velocity Ω _1, Ω ₂ proportional to the above torque (precession motion).
(Step 25).

As a result, the desired horizontal damping moment M _H and torsion moment M τ are generated by the damping gyro devices A and B, and the deformation moment of the structure 5 at that time is reduced. When the vibration suppression of the structure is completed, the rotational angular velocities ω _{1 and} ω ₂ of each rotor 1 are returned to the initial values of the rotational angular velocities.

Other functions and effects are similar to those of the first embodiment.

[0045]

As described above, in the vibration control device for a structure according to the present invention, it is possible to simultaneously perform the vibration control of the vibration in the horizontal direction and the twisting direction only by the pair of vibration control gyro devices. .. For this reason, it is possible to reduce the number of the vibration damping gyro devices that generate the vibration damping moment to the number of vibration damping gyro devices required to be installed in the structure because at least three vibration damping gyro devices are required. The effect that the space occupied by the control device can be reduced is obtained.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a configuration of a structure vibration control device according to a first embodiment of the present invention.

FIG. 2 is a plan view of a vibration damping gyro device.

FIG. 3 is a sectional view taken along line DD in FIG.

FIG. 4 is a diagram showing a flow of processing for vibration control according to the first embodiment.

FIG. 5 is a diagram showing a second rotary drive unit of the first embodiment.

FIG. 6 is a schematic configuration diagram showing a configuration of a structure vibration control device according to a second embodiment of the present invention.

FIG. 7 is a schematic diagram showing a flow of processing of vibration control of the second embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 rotary body 2 rotary shaft 3 frame 4 support beam 5 structure 6 support stand 7 inclinometer 8 electric motor 9 controller 20 rotary body drive motor 10 speedometer A, B vibration control gyro device X support shaft θ _, θ _1, θ ₂ Inclination angle of the rotating body Ω _, Ω _1, Ω ₂ Angular velocity around the support axis ω _, ω _1, ω ₂ Rotating angular velocity of the rotating body S _1, S ₂ Product value

Claims (2)

[Claims] 1. A vibration damping gyro device, which supports a rotating body rotating at a high speed rotatably around a horizontal support shaft orthogonal to the rotating shaft, is installed in a structure, and the rotating body is mounted on the rotating body. In a vibration control device that causes a precession motion around a support axis and reduces vibration of a structure by a damping moment generated in proportion to the angular velocity of the precession motion, the rotating bodies rotate in opposite directions and A pair of the above-mentioned vibration damping gyro devices arranged with their supporting axes parallel to each other, two angle detecting means for respectively detecting the tilt angles of the respective rotating bodies of the vibration damping gyro devices with respect to the horizontal plane, and the above Two rotary motion driving means for respectively rotating and driving the rotating body around the support axis, vibration detecting means for detecting horizontal motion and twisting motion of the structure, the angle detecting means, rotary motion driving means, and vibration detecting means. Connect and detect angle While inputting the signal corresponding to the above-mentioned inclination angle of each rotating body from the means, it is necessary to cancel the deformation moment generated in the structure based on the signal input from the vibration detecting means. When calculating the damping moment and the twisting moment, and further calculating the angular velocity generated in each rotating body in order to generate the damping moment, the angular velocity generated in both rotating bodies as much as possible to generate the calculated torsional moment. A controller for supplying each of the rotary motion drive means with a drive command of a rotational torque of an amount corresponding to the calculated angular velocity by giving a difference to the values of the respective angular velocities to be generated in the two rotating bodies. A vibration control device for a structure characterized by being provided. 2. A vibration damping gyro device, which supports a rotating body rotating at a high speed so as to be rotatable about a horizontal support shaft that is orthogonal to the rotating shaft, is installed in a structure, and the rotating body is mounted on the rotating body. In a vibration control device that causes a precession motion around a support axis and reduces vibration of a structure by a damping moment generated in proportion to the angular velocity of the precession motion, the rotating bodies rotate in opposite directions and A pair of the above-mentioned vibration damping gyro devices arranged with their supporting axes parallel to each other, two angle detecting means for respectively detecting the tilt angles of the respective rotating bodies of the vibration damping gyro devices with respect to the horizontal plane, and the above Two rotary motion driving means for driving the rotary bodies to rotate about their respective support shafts, two rotary body driving means for driving the rotary bodies to rotate about their rotary shafts at high speed, and a horizontal motion and a twist motion of the structure. Vibration detection means to detect And the angle detection means, the rotation driving means, the rotating body driving means, and the vibration detection means,
While the signal corresponding to the tilt angle of each rotating body is input from the angle detection means, the horizontal movement required to cancel the deformation moment generated in the structure obtained based on the signal input from the vibration detection means is required. The damping moment and the torsion moment in the direction are calculated, and the product value of the rotational angular velocity of the rotating body and the angular velocity around the support axis in the both damping gyro devices necessary for simultaneously generating the both moments is calculated, and further The rotational angular velocity and the angular velocity around the support axis of the rotating body of each vibration damping gyro device, which is each product value obtained, are determined,
A rotational drive command of a torque amount corresponding to each angular velocity about the determined support axis is supplied to each rotary motion drive means, and a command to change the rotational angular velocity of each rotary body to the calculated rotational angular velocity is issued to each rotary body. A vibration control device for a structure, comprising: a controller supplying the driving means.