JPS6060344A - Vibration-control device - Google Patents
Vibration-control deviceInfo
- Publication number
- JPS6060344A JPS6060344A JP16971883A JP16971883A JPS6060344A JP S6060344 A JPS6060344 A JP S6060344A JP 16971883 A JP16971883 A JP 16971883A JP 16971883 A JP16971883 A JP 16971883A JP S6060344 A JPS6060344 A JP S6060344A
- Authority
- JP
- Japan
- Prior art keywords
- spring
- vibration
- spring constant
- movable mass
- vibrating body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims 2
- 230000003247 decreasing effect Effects 0.000 abstract description 3
- 230000001133 acceleration Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F7/00—Vibration-dampers; Shock-absorbers
- F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
- F16F7/1005—Vibration-dampers; Shock-absorbers using inertia effect characterised by active control of the mass
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
Description
【発明の詳細な説明】
この発明は、建造物等の振動体の振動を、可動質量の運
動によって制御する振動制御装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a vibration control device that controls the vibration of a vibrating body such as a building by the movement of a movable mass.
一般に振動体に生ずる振動を防止するのに。To prevent vibrations that generally occur in vibrating bodies.
マスダンパが用いられていた。このマスダンパは、第１
図の示すごとく、質量ＭＳの振動体（１１にバネ定数句
を有するバネ（２）と、アクチュエータ（３）を介して
質量周の可動質量（４）が可動自在に取付けられている
。この可動質量（４）は、振動体（１）の振動速度に比
例した逆向きの制御力を制御器（図示せず）の指示によ
ってアクチュエータ（３）から与えられ、振動体（１）
の振動を止める向きに動いて、振動体（１）の振動を減
衰させている。このときの運動方程式は次のようになる
。A mass damper was used. This mass damper is the first
As shown in the figure, a movable mass (4) around the mass is movably attached to the vibrating body (11) of mass MS via a spring (2) having a spring constant and an actuator (3). The mass (4) is given a control force in the opposite direction proportional to the vibration speed of the vibrating body (1) from the actuator (3) according to instructions from a controller (not shown), and the vibrating body (1)
The vibration of the vibrating body (1) is damped by moving in the direction of stopping the vibration of the vibrating body (1). The equation of motion in this case is as follows.
ＭｓＸｓ＋（１ｓＭｓ＋ＫｓＸｓ＋Ｋｄ（Ｘｓ Ｘｄ）
：＝Ｆ−Ｕ（１１ＭｄＭｄ＋Ｋｄ（Ｘｄ Ｘｓ）＝Ｕ
（２１ここに、 Ｘ３は振動体（１）の変位、Ｏｓは振
動体（１）の減衰定数、 Ｋｓは振動体（１）のバネ定
数、Ｘｄは可動質量（４）の変位、Ｐは外力、Ｕは制御
力である上記のように従来の振動制御装置は、振動体（
１）の振動速度Ｘ５に比例した制御力Ｕ ＝Ｏｍ”ｓ
（（１ｍはゲイン定数）をアクチュエータ（３）に発生
させ、可動質量（４）を振動体（１）の振動を止める向
きに動かし振動を減衰させている。MsXs+(1sMs+KsXs+Kd(Xs Xd)
:=F−U(11MdMd+Kd(Xd Xs)=U
(21 Here, X3 is the displacement of the vibrating body (1), Os is the damping constant of the vibrating body (1), Ks is the spring constant of the vibrating body (1), Xd is the displacement of the movable mass (4), and P is the external force. , U is the control force. As mentioned above, the conventional vibration control device uses a vibrating body (
1) Control force U = Om”s proportional to vibration speed X5
((1m is a gain constant) is generated in the actuator (3), and the movable mass (4) is moved in a direction to stop the vibration of the vibrating body (1), thereby damping the vibration.
この振動制御装置においては、可動質量（４）のいて重
要な要素であり、任意に選ぶことはできない。この共振
周波数ｗｄは９通常、振動体（１）のされる。In this vibration control device, the movable mass (4) is an important element and cannot be selected arbitrarily. This resonant frequency wd is 9. Usually, the resonant frequency wd is that of the vibrating body (1).
振動体（１）が、建物のような水平振動の場合は、従来
の振動制御装置においても、可動質量（４）の運動方向
は２重力の影響を受けない水平方向ｆあるので、バネ１
２）は、可動質ｔ（４）の自重をささえる必要がなく、
自由なバネ定数を選ぶことができる。しかしながら、振
動体（１）が、高架道路等にあられれる垂直振動（重力
方向の振動）の場合は、可動質１１（４１は９重力方向
にバネ（２）を介して動くように取付ける必要がある。When the vibrating body (1) is horizontally vibrating like a building, even in conventional vibration control devices, the moving direction of the movable mass (4) is the horizontal direction f which is not affected by gravity, so the spring 1
2) does not require supporting the weight of the movable body t(4),
You can freely choose the spring constant. However, in the case of vertical vibration (vibration in the direction of gravity) where the vibrating body (1) occurs on an elevated road, etc., it is necessary to install the movable member 11 (41) so that it can move in the direction of gravity via a spring (2). be.
したがって、垂直振動の場合は、バネ（２）は可動質−
１［４１の自重をささえ、かつ振動周波数ｗｄから決定
されるバネ定数Ｋｄをもたなければならないことになシ
、このようなバネ（２）を製作することは可動質量（４
）の自重によるバネ（２）の靜たわみからかなり困難と
なる場合が多かった。Therefore, in case of vertical vibration, the spring (2) is movable -
1 [41] and has a spring constant Kd determined from the vibration frequency wd, manufacturing such a spring (2) requires a movable mass (4
) was often quite difficult due to the quiet deflection of the spring (2) due to its own weight.
共振周波数ｗｄをもたせるバネ（２）の靜たわみδは、
（３）式で与えられ、ｗｄの二乗に反比例する。The quiet deflection δ of the spring (2) that has the resonant frequency wd is
It is given by equation (3) and is inversely proportional to the square of wd.
δ＝ ｇ （ｇｉ重力加速度９．ＦｆＡ２）（３）、ｄ
２
一例として、ｗ（１＝＝０．６２８ｒａｄ／ｓ（０，１
）ｈ）の場合δは２５ 、 ｗｄ ＝ ６．２８ ｒａ
ｄ ／ ５（ＩＨｚ） ＋７）場合δは０．２５”とな
る。δ= g (gi gravitational acceleration 9.FfA2) (3), d
2 As an example, w(1==0.628rad/s(0,1
)h), δ is 25, wd = 6.28 ra
d/5(IHz) +7), δ is 0.25''.
したがって、ＩＨｚ以下の共感周波数が必要となる低周
波振動の場合、バネ（２）の実現が極めて困難となる。Therefore, in the case of low-frequency vibrations that require a resonance frequency of IHz or less, it is extremely difficult to realize the spring (2).
この発明は上記の欠点を除くもので、垂直振動において
、可動質量（４）の自重をささえる力を、本来必要なバ
ネ定数Ｋｄよシも大きなバネ定数Ｋｄｏをもつバネ（２
）で受けもち、振動制御に必要なバネ定数Ｋｄを、振動
体（１）と可動質量（４）の相対変位ＸＳ Ｘｄに比例
した制御力をバネ（２）のバネ定数Ｋｄｏを減する方向
にアクチュエータ（３）で作用させることにより、任意
に選択できるようにした振動制御装置を提供するもので
ある〇以下図面にしたがって、この発明の一実施例を説
明する。第２図は、この発明の振動制御装置を示す図で
あり、（３）は高架道路等、垂直方向（重力方向）に振
動する振動体（１）に固定されたアクチュエータで、可
動コア（５）と固定コア（６）とＫよりなり、この可動
コア（５）の先端には、可動質量（４）が固定されてｂ
る。This invention eliminates the above-mentioned drawbacks, and in vertical vibration, the force supporting the self-weight of the movable mass (4) can be applied to a spring (2) having a spring constant Kdo larger than the originally required spring constant Kd.
), the spring constant Kd required for vibration control is applied by applying a control force proportional to the relative displacement XS Xd of the vibrating body (1) and the movable mass (4) in the direction of decreasing the spring constant Kdo of the spring (2). This provides a vibration control device that can be selected arbitrarily by actuating it with an actuator (3). An embodiment of the present invention will be described below with reference to the drawings. FIG. 2 is a diagram showing the vibration control device of the present invention, and (3) is an actuator fixed to a vibrating body (1) that vibrates in the vertical direction (direction of gravity), such as an elevated road. ), a fixed core (6), and K, and a movable mass (4) is fixed to the tip of this movable core (5).
Ru.
この可動質量（４）はバネ（２）によって振動体（１）
と連結しており、可動コア（５）の往復動にしたがって
垂直に往復動するよう釦なっている。This movable mass (4) is moved to the vibrating body (1) by the spring (2).
The button is connected to the movable core (5) and reciprocates vertically in accordance with the reciprocating motion of the movable core (5).
（７）は振動体（１）の振動を検出する加速度計、（８
）は振動体（１）と可動質量（４）との相対変位Ｘｓ
Ｘｄを検出する相対変位計、（９）は上記加速度信号と
相対変位計信号を受けて増幅し、アクチュエータ（３）
忙指令を出す制御器である。(7) is an accelerometer that detects the vibration of the vibrating body (1);
) is the relative displacement Xs between the vibrating body (1) and the movable mass (4)
A relative displacement meter (9) that detects Xd receives and amplifies the above acceleration signal and relative displacement meter signal,
It is a controller that issues busy commands.
第３図は、制御器（９）の構成例を示したもので、（９
１）は加速度計（７）の加速度信号を速度信号に変換す
る積分器、（９２）は、相対変位計（８）の相対変位信
号を増幅する増幅器、（９３）はバネ（２）のバネ定数
Ｋｄｏから、振動制御に必要なバネ定数向を得るために
相対変位に比例した制御力をアクチュエータ（３）で発
生させる引算器、（９４）はアクチュエータ（３）を駆
動する電力増幅器である。FIG. 3 shows an example of the configuration of the controller (9).
1) is an integrator that converts the acceleration signal of the accelerometer (7) into a velocity signal, (92) is an amplifier that amplifies the relative displacement signal of the relative displacement meter (8), and (93) is the spring of the spring (2). From the constant Kdo, a subtractor generates a control force proportional to the relative displacement in the actuator (3) in order to obtain the spring constant direction necessary for vibration control, and (94) is a power amplifier that drives the actuator (3). .
以上のような構成からなるこの発明の振動制御装置は、
振動体（１）に外力が加わり、振動を起こすと、加速度
計（７）により検出された振動体（１１の振動加速度は
、積分器（９１）、引算器（９３）及び電力増幅器（９
４）を経由して、アクチュエータ（３）に送られる。The vibration control device of the present invention having the above configuration is as follows:
When an external force is applied to the vibrating body (1) to cause it to vibrate, the vibration acceleration of the vibrating body (11) detected by the accelerometer (7) is determined by the integrator (91), subtracter (93) and power amplifier (9).
4) and is sent to the actuator (3).
アクチュエータ〔３）においては、可動質量（４）と−
１動体（１）との間に振動体（１）の振動速度ＸｓＫ比
例した制御力を発生し、可動質量（４）を振動体（１）
の振動を止める向きに振動させるため、振動体（１）の
振動は減衰する。可動質量（４）の自重は、バネ（２）
でささえられこのときのバネ（２）の靜たわみδは第（
３）式で与えられバネ（２）のバネ定数Ｋｄｏを可動質
量＋４）ＭｄどＫｄｏからなる共振周波数Ｗｄ０を例え
ば６．２８ ｒａｄ ／ ｓ （ＩＨｚ）以上に設定す
れば、０．２５ｍ以下となりバネ（２）は充分実現され
、又、振動制御に対応するバネ定数向はバネ（２）の可
動質量（４）の自重による靜たわみ点を中立点として、
振動体（１）と可動質量（４）との相対変位に比例した
制御力Ｕｋを、相対変位計（８）、増幅器（９２） 、
引算器（９３）、電力増幅器（９４）を経由して、アク
チュエータ＋３１で発生させることにより得られる。In the actuator [3], the movable mass (4) and -
A control force proportional to the vibration speed XsK of the vibrating body (1) is generated between the movable mass (4) and the vibrating body (1).
The vibration of the vibrating body (1) is attenuated in order to vibrate in the direction of stopping the vibration of the vibrating body (1). The weight of the movable mass (4) is the weight of the spring (2)
The quiet deflection δ of the spring (2) at this time is the (th)
If the resonant frequency Wd0, which is given by equation 3) and is made up of the movable mass + 4) Md and Kdo, is set to 6.28 rad/s (IHz) or more, the spring constant will be 0.25 m or less, and the spring (2) is fully realized, and the direction of the spring constant corresponding to vibration control is set at the neutral point of the silent deflection point of the movable mass (4) of the spring (2) due to its own weight.
A control force Uk proportional to the relative displacement between the vibrating body (1) and the movable mass (4) is measured by a relative displacement meter (8), an amplifier (92),
The signal is generated by the actuator +31 via a subtracter (93) and a power amplifier (94).
このときの運動方程式は１次式となる。The equation of motion at this time is a linear equation.
ＭｓＸｓ＋（”！ｓＸｓ＋Ｋｄｏ（Ｘｓ Ｘｄ）＝＝ｐ
−Ｕ ｆ４）ＭｄＸｄ ＋ Ｋｄｏ （Ｘｄ −Ｘｓ
） ＝Ｕ ｆ５）Ｕ ＝ （１講ｓ Ｋｄｌ （Ｘｓ
Ｘｄ） ｆ６）ここでＫｄｌ（Ｘｓ−ｘｄ）は撮動体
（１）と可動質量（４）との相対変位に比例した制御力
ＴＪｋであり、Ｋｄｔは比例定数である。MsXs+(”!sXs+Kdo(Xs Xd)==p
-U f4) MdXd + Kdo (Xd -Xs
) =U f5)U = (1 course s Kdl (Xs
Xd) f6) Here, Kdl (Xs-xd) is a control force TJk proportional to the relative displacement between the moving body (1) and the movable mass (4), and Kdt is a proportionality constant.
今Ｋｄｌを
Ｋｄｌ ”” Ｋｄｏ−Ｋｄ ｆ７）
となるよう設定すれば、第（４）〜第１６）式は、第＋
１１、第（２）式と同じとなり１等価的にバネ（２）の
バネ定数を減する効果をもたらし、安定な振動制御が可
能となる。If we now set Kdl to be Kdl ``” Kdo - Kd f7), equations (4) to 16) become
11. This is the same as equation (2), which brings about the effect of reducing the spring constant of the spring (2) equivalently by 1, and enables stable vibration control.
以上のように、この発明によれば、低周波の垂直振動に
おりて、アクチュエータ（３）で振動体（７）
すＯ
代理人 大岩増雄
（ｉ）の振動速度に比例した制御力を発生させ可動質量
（４）の自重を、大きなバネ定数をもつバネ（２）でさ
さえ、かつ振動制御に必要な弱いバネ定数を得るために
、振動体（１）と可動質’ｔａ−，（４１との相対変位
に比例した制御力をアクチュエータ（３）でバネ（２）
のバネ定数を減する方向に加えることにより、バネ定数
は任意に選択でき、可動質量＋４）Ｍｄを任意に決めら
れる安定な振動制御装置が提供できる。As described above, according to the present invention, the actuator (3) generates a control force proportional to the vibration speed of the vibrator (7) agent Masuo Oiwa (i) during low frequency vertical vibration. In order to support the weight of the movable mass (4) with the spring (2) having a large spring constant and to obtain a weak spring constant necessary for vibration control, the vibrating body (1) and the movable mass 'ta-, (41) are The actuator (3) applies a control force proportional to the relative displacement of the spring (2).
By adding the spring constant in the decreasing direction, the spring constant can be arbitrarily selected, and a stable vibration control device can be provided in which the movable mass +4)Md can be arbitrarily determined.
４、図面の簡単な説明
第１図は、一般のマスダンパの振動モデル図、第２図は
この発明による実施例を示す図、第３図は第２図に示し
た制御器の構成図である。4. Brief description of the drawings Fig. 1 is a vibration model diagram of a general mass damper, Fig. 2 is a diagram showing an embodiment according to the present invention, and Fig. 3 is a configuration diagram of the controller shown in Fig. 2. .
図中（１）は振動体、（２）はバネ、（３）はアクチュ
エータ、（４）はＩ＝Ｔ動質葉質量７）は加速度計、（
８）は相対変位計、（９）は制御器、（９１）は積分器
、（９２）は増幅器、（９３）は引算器、（９４）は電
力増幅器であるなお９図中同一符号は同−又は相当部分
を示（８）
第１図In the figure, (1) is the vibrating body, (2) is the spring, (3) is the actuator, (4) is I=T dynamic leaf mass 7) is the accelerometer, (
8) is a relative displacement meter, (9) is a controller, (91) is an integrator, (92) is an amplifier, (93) is a subtracter, and (94) is a power amplifier. Note that the same symbols in Figure 9 are Showing the same or equivalent part (8) Figure 1
Claims (1)
手段と、上記振動体に固定され、可動質量を往復動させ
るアクチュエータと、上記可動質量の自重をささえるバ
ネと、上記可動質量と振動体との相対変位を検出する検
出手段と、王制振動体の振動量に比例した制御力及び上
記バネのバネ定数を減する方向で上記相対変位に比例し
た制御力を合わせて出力できるように上記アクチュエー
タに指令を出す制御器とを備えたことを特徴とする振動
制御装置。a detection means for detecting vibration of a vibrating body vertically vibrating in response to an external force; an actuator fixed to the vibrating body and reciprocating the movable mass; a spring supporting the weight of the movable mass; and the movable mass and the vibrating body. a detection means for detecting a relative displacement between the actuator and the actuator so as to be able to output a control force proportional to the amount of vibration of the royal vibrating body and a control force proportional to the relative displacement in the direction of reducing the spring constant of the spring; A vibration control device characterized by comprising a controller that issues a command to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16971883A JPS6060344A (en) | 1983-09-14 | 1983-09-14 | Vibration-control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16971883A JPS6060344A (en) | 1983-09-14 | 1983-09-14 | Vibration-control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6060344A true JPS6060344A (en) | 1985-04-06 |
Family
ID=15891571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16971883A Pending JPS6060344A (en) | 1983-09-14 | 1983-09-14 | Vibration-control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6060344A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61112024U (en) * | 1984-12-26 | 1986-07-15 | ||
| JPS62114011A (en) * | 1985-11-14 | 1987-05-25 | Yaskawa Electric Mfg Co Ltd | Vibration isolation controlling method |
| JPS6441743U (en) * | 1987-09-09 | 1989-03-13 | ||
| JP2008303997A (en) * | 2007-06-08 | 2008-12-18 | Kurashiki Kako Co Ltd | Active type vibration removing device and damping device used therefor |
| JP2009138907A (en) * | 2007-12-10 | 2009-06-25 | Takenaka Komuten Co Ltd | Vibration control device, vibration control method and vibration control program |
| WO2011033763A1 (en) | 2009-09-17 | 2011-03-24 | 三菱電機株式会社 | Damping device and disk drive equipped with damping device |
| WO2012104470A1 (en) * | 2011-01-31 | 2012-08-09 | Wärtsilä Finland Oy | Mass damper |
| JP2023117314A (en) * | 2022-02-10 | 2023-08-23 | ヤクモ株式会社 | AMD device and its control program |
-
1983
- 1983-09-14 JP JP16971883A patent/JPS6060344A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61112024U (en) * | 1984-12-26 | 1986-07-15 | ||
| JPS62114011A (en) * | 1985-11-14 | 1987-05-25 | Yaskawa Electric Mfg Co Ltd | Vibration isolation controlling method |
| JPS6441743U (en) * | 1987-09-09 | 1989-03-13 | ||
| JP2008303997A (en) * | 2007-06-08 | 2008-12-18 | Kurashiki Kako Co Ltd | Active type vibration removing device and damping device used therefor |
| JP2009138907A (en) * | 2007-12-10 | 2009-06-25 | Takenaka Komuten Co Ltd | Vibration control device, vibration control method and vibration control program |
| WO2011033763A1 (en) | 2009-09-17 | 2011-03-24 | 三菱電機株式会社 | Damping device and disk drive equipped with damping device |
| US8390951B2 (en) | 2009-09-17 | 2013-03-05 | Mitsubishi Electric Corporation | Vibration damping device and disc device having vibration damping device |
| WO2012104470A1 (en) * | 2011-01-31 | 2012-08-09 | Wärtsilä Finland Oy | Mass damper |
| CN103339403A (en) * | 2011-01-31 | 2013-10-02 | 瓦锡兰芬兰有限公司 | Mass damper |
| US8967348B2 (en) | 2011-01-31 | 2015-03-03 | Wärtsilä Finland Oy | Mass damper |
| JP2023117314A (en) * | 2022-02-10 | 2023-08-23 | ヤクモ株式会社 | AMD device and its control program |
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