Control device of seismic isolation test device, and control method of seismic isolation test device

Abstract

To reduce fluctuation in a vertical load when oscillating a table in a state of applying the vertical load to an object to be oscillated.SOLUTION: A control device of a seismic isolation test device comprises: a table part in which an object to be oscillated is put; a vertical oscillation exciting device that is connected to the table part; and a horizontal oscillation exciting device that oscillates the table part in a horizontal direction. When oscillating the table part in the horizontal direction by the horizontal oscillation exciting device in a state of applying a vertical load to the object to be oscillated, and putting the object to be oscillated in the table part, the control device of a seismic isolation test device is configured to add a vertical load compensation value serving as a compensation value of a vertical load instruction to the vertical load instruction of the vertical oscillation exciting device so as to reduce a fluctuation in vertical load generated by the oscillation in the horizontal direction of the table part by the horizontal oscillation exciting device.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a control device for a vibration isolation test apparatus and a control method for a vibration isolation test apparatus. [Background technology]

[0002] 2. Description of the Related Art A vibration isolation test device is known in which a table on which an object to be vibrated is placed is vibrated by a horizontal vibrator (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3418667 Summary of the Invention [Problem to be solved by the invention]

[0004] In the vibration isolation test device described above, when the table is vibrated while a vertical load is applied to the object to be excited, if the object to be excited is deformed, the area of ​​the object receiving the load may increase or decrease, causing the vertical load to fluctuate. For this reason, it is necessary to reduce the fluctuation of the vertical load.

[0005] The present disclosure has been made in consideration of the above, and aims to provide a control device for a vibration isolation test apparatus and a control method for a vibration isolation test apparatus that are capable of reducing fluctuations in vertical load when a table is vibrated while a vertical load is applied to an object to be vibrated. [Means for solving the problem]

[0006] The control device of a vibration isolation test device according to the present disclosure is a control device for a vibration isolation test device comprising a table on which an object to be vibrated is placed, a vertical vibration device connected to the table portion, and a horizontal vibration device that vibrates the table portion in a horizontal direction, and when a vertical load is applied to the object to be vibrated and the object is placed on the table portion and the table portion is vibrated in the horizontal direction by the horizontal vibration device, a vertical load compensation value, which is a compensation value for the vertical load command, is added to the vertical load command of the vertical vibration device so as to reduce fluctuations in the vertical load caused by the horizontal vibration of the table portion by the horizontal vibration device. Effect of the Invention

[0007] According to the present disclosure, when a table is vibrated with a vertical load applied to an object to be vibrated, fluctuations in the vertical load can be reduced. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing a schematic diagram of an example of a vibration isolation test device according to the present embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example of control of the vertical vibration device by the control device. [Diagram 3] FIG. 3 is a diagram showing a schematic flow of calculations for calculating a vertical load compensation value. [Figure 4] FIG. 4 is a flowchart showing an example of a control method for the vibration isolation test apparatus according to this embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of a control device for a vibration isolation test device and a control method for a vibration isolation test device according to the present disclosure will be described with reference to the drawings. Note that the present invention is not limited to this embodiment. In addition, the components in the following embodiments include those that are replaceable and easy for a person skilled in the art, or those that are substantially the same.

[0010] 1 is a diagram showing a schematic diagram of an example of a vibration isolation test apparatus 100 according to this embodiment. As shown in FIG. 1, the vibration isolation test apparatus 100 includes a base unit 10, a table unit 20, a horizontal vibration excitation device 50, a vertical vibration excitation device 60, and a control device 70.

[0011] The base unit 10 is placed on a horizontal floor surface or the like. The base unit 10 has a rectangular parallelepiped recess 11. Inside the recess 11, the table unit 20, the horizontal vibration device 50, and the vertical vibration device 60 are housed.

[0012] The vibration target object 80 is placed on the table portion 20. The table portion 20 has a lower table 30 and an upper table 40. The lower table 30 is placed on the bottom of the recess 11 via a vertical vibration device 60. The lower table 30 has, for example, a rectangular parallelepiped shape, but is not limited to this configuration.

[0013] The upper table 40 is placed on the lower table 30 via bearings or the like. The upper table 40 is, for example, rectangular parallelepiped-shaped, but is not limited to this configuration. The object to be excited 80 is placed on an upper surface 41 of the upper table 40. When the object to be excited 80 is placed on the upper table 40, a vertical load can be applied to it by a reaction beam 90 or the like. Examples of the object to be excited 80 include laminated rubber bearings and spherical rolling bearings.

[0014] The horizontal vibration device 50 is supported on the side surface of the recess 11 of the base part 10, etc. The horizontal vibration device 50 is connected to the upper table 40 and applies horizontal vibration to the upper table 40. For example, a horizontal dynamic jack or the like is used as the horizontal vibration device 50. When horizontal displacement is applied to the vibration target object 80, the load generated in the horizontal direction can be detected by, for example, a detector (not shown) provided in the horizontal vibration device 50.

[0015] The vertical vibration device 60 is supported on the bottom surface of the recess 11 of the base portion 10, etc. The vertical vibration device 60 supports the lower table 30 and applies vertical vibration to the lower table 30. A plurality of vertical vibration devices 60 are provided. The plurality of vertical vibration devices 60 can be controlled independently of each other. As the vertical vibration device 60, for example, a vertical dynamic jack is used. The vertical vibration device 60 is provided with a detection unit 61 such as a load cell that detects the magnitude of the vertical load. The detection result of the detection unit 61 is transmitted to the control device 70.

[0016] The control device 70 comprehensively controls the vibration isolation test device 100. The control device 70 controls the operations of the horizontal vibration excitation device 50 and the multiple vertical vibration excitation devices 60. The control device 70 can control the operations of the multiple vertical vibration excitation devices 60 independently of each other. The control device 70 has a processing unit 71 and a memory unit 72.

[0017] The processing unit 71 performs various types of information processing. The processing unit 71 includes a processor such as a Central Processing Unit (CPU) and memories such as a Read Only Memory (ROM) and a Random Access Memory (RAM).

[0018] The storage unit 72 stores information such as various programs, data, etc. The storage unit 72 includes storage such as a hard disk drive (HDD) and a solid state drive (SSD).

[0019] In the control device 70, a processor in the processing unit 71 reads out various programs and loads them in a memory, thereby executing information processing corresponding to the functions of the above-mentioned units. Examples of the various programs include programs stored in the storage unit 72 and programs recorded on an external recording medium. The control device 70 functions as an information processing device (computer) that executes various information processes. Note that the various programs may be executed by an information processing device other than the control device 70, or the control device 70 and the other information processing device may cooperate to execute the various programs.

[0020] When a vibration test of the vibration-excited object 80 is performed by the vibration isolation test device 100 configured as described above, the vibration-excited object 80 is placed on the upper table 40, and a vertical load is applied to the vibration-excited object 80. In this state, the control device 70 controls the horizontal vibration device 50 to apply horizontal vibration to the upper table 40.

[0021] In this way, when a vertical load is applied to the vibration target 80 and the upper table 40 is placed on the upper table 40, and the upper table 40 is vibrated in the horizontal direction by the horizontal vibration device 50, if the vibration target 80 is deformed, for example, the area of ​​the vibration target 80 that receives the load may increase or decrease, causing the vertical load to vary. For this reason, the control device 70 controls the multiple vertical vibration devices 60 so as to reduce the variation in the vertical load of the vibration target 80.

[0022] Fig. 2 is a block diagram showing an example of control of the vertical vibration device 60 by the control device 70. The block diagram shown in Fig. 2 shows control of one vertical vibration device 60. In this embodiment, since each vertical vibration device 60 can be controlled independently, each vertical vibration device 60 is controlled according to the block diagram shown in Fig. 2.

[0023] As shown in Fig. 2, the control device 70 has a calculation unit 73 and transfer elements 74, 75, 76, and 77. A vertical load command, which is a command value for the vertical vibration device 60, an output result of the transfer element 74, and an output result of the transfer element 77 are input to the calculation unit 73. The calculation unit 73 adds the vertical load command and the output result of the transfer element 74 and subtracts the output result of the transfer element 77 to calculate an output vertical load command, which is a response deviation. The calculation unit 73 outputs the calculated output vertical load command.

[0024] A horizontal displacement command, which is a command value for the horizontal vibration device 50 by the control device 70, is input to the transfer element 74. The transfer element 74 calculates a vertical load compensation value, which is a compensation value for the vertical load command, based on the horizontal displacement command, and outputs the calculation result.

[0025] FIG. 3 is a diagram showing a schematic flow of calculations including the calculation of the vertical load compensation value. In the graph shown in FIG. 3, the vertical axis indicates the magnitude of the value, and the horizontal axis indicates the time. As shown in FIG. 3, the control device 70 calculates the frequency of the horizontal vibration of the upper table 40 by the horizontal vibration device 50 based on the horizontal displacement command. The control device 70 calculates a sine wave as the vertical load compensation value, which has a frequency twice that of the calculated horizontal vibration and has an amplitude obtained by multiplying the vertical load command acting on the vibration target 80 by a predetermined number. The predetermined number can be obtained in advance by measurement or simulation according to the vibration target 80. The vertical load compensation value may be calculated using a wave other than a sine wave, for example, a seismic wave, for the horizontal displacement command. The control device 70 can store the fluctuation of the vertical load caused by the horizontal vibration of the table part 20 by the horizontal vibration device 50 in the memory unit 72. The control device 70 can reduce the fluctuation of the vertical load of the vibration target object 80 by adding a vertical load compensation value calculated based on the difference with respect to the target vertical load command.

[0026] The transfer element 75 receives an output vertical load command, which is the output result of the calculation unit 73. The transfer element 75 performs various controls such as PID control on the output vertical load command calculated by the calculation unit 73, and outputs the results.

[0027] The transfer element 76 receives the output result of the transfer element 75. The transfer element 76 calculates a servo command value for the vertical vibration device 60 based on the output result of the transfer element 75, and outputs the calculation result.

[0028] The vertical vibration device 60 applies vibration in the vertical direction to the lower table 30 based on the servo command value output from the transfer element 76. The transfer element 77 is the detection result of the detection unit 61 provided in the vertical vibration device 60. The detection result of the transfer element 77 is input to the calculation unit 73 described above.

[0029] The control device 70 may select the vertical vibration device 60 to which the vertical load compensation value is to be added based on the positional relationship of the multiple vertical vibration devices 60 in a planar view. In other words, the control device 70 may not add the output result of the transfer element 74 to the calculation unit 73 for some of the multiple vertical vibration devices 60. In this case, the relationship between the positional relationship of the vertical vibration devices 60 in a planar view and the vertical vibration devices 60 to which the vertical load compensation value is to be added may be obtained in advance, for example, by an experiment or a simulation. In addition, an optimal combination between the positional relationship of the vertical vibration devices 60 in a planar view and the vertical vibration devices 60 to which the vertical load compensation value is to be added may be learned in a learning model, the positional relationship of the vertical vibration devices 60 in a planar view may be input to the learning model, and the vertical vibration devices 60 to which the vertical load compensation value is to be added may be selected based on the output result from the learning model.

[0030] Fig. 4 is a flow chart showing an example of a control method for the vibration isolation test apparatus 100. As shown in Fig. 4, the method includes a compensation value calculation step S10, a calculation step S20, and a control step S30.

[0031] In the compensation value calculation step S10, a vertical load compensation value is calculated when the vibration target 80 is placed on the table portion 20 with a vertical load applied thereto and the table portion 20 is vibrated in the horizontal direction by the horizontal vibration device 50. In the compensation value calculation step S10, for example, based on a horizontal displacement command to the horizontal vibration device 50, a vertical load compensation value that is a compensation value for a vertical load command can be calculated.

[0032] In the calculation step S20, the calculated vertical load compensation value is added to the vertical load command of the vertical vibration device 60.

[0033] In the control step S30, the vertical vibration device 60 is controlled based on the calculation result in the calculation step S20.

[0034] As described above, the control device 70 of the vibration isolation testing apparatus 100 according to the first aspect of the present disclosure is a control device 70 of the vibration isolation testing apparatus 100 comprising a table portion 20 on which the vibration object 80 is placed, a vertical vibration device 60 connected to the table portion 20, and a horizontal vibration device 50 for vibrating the table portion 20 in the horizontal direction, and when the vibration object 80 is placed on the table portion 20 by applying a vertical load to it and vibrating the table portion 20 in the horizontal direction by the horizontal vibration device 50, a vertical load compensation value, which is a compensation value for the vertical load command, is added to the vertical load command of the vertical vibration device 60 so as to reduce fluctuations in the vertical load caused by the horizontal vibration of the table portion 20 by the horizontal vibration device 50.

[0035] According to this configuration, when a vertical load is applied to the vibration target 80 and the table portion 20 is vibrated in the horizontal direction by the horizontal vibration device 50, a vertical load compensation value, which is a compensation value for a vertical load command, is added to the vertical vibration device 60 so as to reduce the fluctuation in the vertical load caused by the horizontal vibration of the table portion 20 by the horizontal vibration device 50, thereby making it possible to reduce the fluctuation in the vertical load by feedforward control (forward compensation control) while suppressing the influence of resonance due to the natural frequency of the vibration target 80 and the natural frequency of the vibration isolation test device 100, etc. Note that the above feedforward control (forward compensation control) in this embodiment is exemplified as a control that raises the waveform only in the time domain.

[0036] According to the second aspect of the present disclosure, in the control device 70 of the vibration isolation test device 100 according to the first aspect, a plurality of vertical vibration excitation devices 60 are provided, and the plurality of vertical vibration excitation devices 60 can be controlled independently of each other.

[0037] According to this configuration, the multiple vertical vibration devices 60 are controlled independently of one another, so that the fluctuation of the vertical load can be more appropriately suppressed.

[0038] According to the third aspect of the present disclosure, in the control device 70 of the vibration isolation test apparatus 100 relating to the first or second aspect, a fluctuation in vertical load caused by the horizontal vibration of the table portion 20 by the horizontal vibration device 50 is detected, and a feedback compensation value is subtracted from the vertical vibration device 60 based on the detection result.

[0039] According to this configuration, the fluctuation in the vertical load is suppressed by the feedforward control and the feedback control, so that the fluctuation in the vertical load can be suppressed more appropriately.

[0040] According to a fourth aspect of the present disclosure, in a control device 70 of a vibration isolation testing device 100 relating to any of the first to third aspects, a vertical vibration device 60 is arranged below the table portion 20 to support the table portion 20.

[0041] According to this configuration, the table portion 20 and the vertical vibration device 60 can be efficiently arranged.

[0042] According to a fifth aspect of the present disclosure, in the control device 70 of the vibration isolation test apparatus 100 relating to any of the first to fourth aspects, the vertical load compensation value is a sine wave whose frequency is twice the frequency of the horizontal vibration of the table portion 20 by the horizontal vibration device 50 and whose amplitude is a value obtained by multiplying the vertical load command by a predetermined number.

[0043] According to this configuration, since it is possible to calculate the vertical load compensation value according to the horizontal vibration of the table portion 20, it is possible to appropriately reduce the fluctuation of the vertical load.

[0044] According to the sixth aspect of the present disclosure, in the control device 70 of the vibration isolation testing device 100 of the second embodiment, the vertical vibration excitation device 60 to which the vertical load compensation value is to be added is selected based on the positional relationship of the multiple vertical vibration excitation devices 60 in a planar view.

[0045] According to this configuration, the vertical vibration device 60 to which the vertical load compensation value is to be added is selected based on the positional relationship of the multiple vertical vibration devices 60 in a planar view, thereby enabling more precise control to suppress fluctuations in the vertical load.

[0046] A control method for a vibration isolation testing apparatus 100 according to a seventh aspect of the present disclosure is a control method for a vibration isolation testing apparatus 100 including a table portion 20 on which an object to be vibrated 80 is placed, a vertical vibration device 60 connected to the table portion 20, and a horizontal vibration device 50 for vibrating the table portion 20 in a horizontal direction, in which when the object to be vibrated 80 is placed on the table portion 20 by applying a vertical load to the object to be vibrated 80, and the table portion 20 is vibrated in the horizontal direction by the horizontal vibration device 50, a vertical load compensation value, which is a compensation value for a vertical load command, is added to the vertical vibration device 60 so as to reduce fluctuations in the vertical load caused by the horizontal vibration of the table portion 20 by the horizontal vibration device 50.

[0047] According to this configuration, when a vertical load is applied to the object to be vibrated 80 and it is placed on the table portion 20, and the table portion 20 is vibrated in the horizontal direction by the horizontal vibration device 50, a vertical load compensation value, which is a compensation value for the vertical load command, is added to the vertical vibration device 60 so as to reduce the fluctuation in the vertical load caused by the horizontal vibration of the table portion 20 by the horizontal vibration device 50. This makes it possible to reduce the fluctuation in the vertical load by feedforward control while suppressing the effects of resonance due to the natural frequency of the object to be vibrated 80, the natural frequency of the vibration isolation test device 100, etc.

[0048] The technical scope of the present invention is not limited to the above embodiment, and can be modified as appropriate without departing from the spirit of the present invention. For example, in the above embodiment, the vertical vibration device 60 applies vibration from the lower side of the table portion 20 to the upper side, but the present invention is not limited to this configuration. The vertical vibration device 60 may apply vibration from the upper side of the table portion 20 to the lower side. [Explanation of symbols]

[0049] 10 Base 11 Recess 20 Table section 30 Lower Table 40 Upper Table 41 Top side 50 Horizontal vibration device 60 Vertical vibration device 61 Detection unit 70 Control device 71 Processing section 72 Memory section 73 Arithmetic section 74, 75, 76, 77 Transmission elements 80 Vibration target 90 Reaction beam 100 Vibration isolation test device

Claims

1. A table on which an object to be excited is placed; A vertical vibration device connected to the table portion; a horizontal vibration device that vibrates the table portion in a horizontal direction; A control device for a vibration isolation test device comprising: When the table section is vibrated in a horizontal direction by the horizontal vibration device while the object to be vibrated is placed on the table section with a vertical load applied thereto, a vertical load compensation value, which is a compensation value for the vertical load command, is added to a vertical load command of the vertical vibration device so as to reduce a fluctuation in the vertical load caused by the horizontal vibration of the table section by the horizontal vibration device. Control device for vibration isolation test equipment.

2. The vertical vibration device is provided in plurality, The vertical vibration devices are independently controllable. A control device for a vibration isolation test apparatus according to claim 1.

3. A fluctuation in the vertical load caused by the horizontal vibration of the table portion by the horizontal vibration device is detected, and a feedback compensation value is subtracted from the vertical load command of the vertical vibration device based on the detection result. A control device for a vibration isolation test apparatus according to claim 1.

4. The vertical vibration device is disposed below the table portion and supports the table portion. A control device for a vibration isolation test apparatus according to claim 1.

5. The vertical load compensation value is a sine wave having a frequency twice the frequency of the horizontal vibration of the table portion caused by the horizontal vibration device and an amplitude obtained by multiplying the vertical load command by a predetermined number. A control device for a vibration isolation test apparatus according to claim 1.

6. The vertical vibration device to which the vertical load compensation value is to be added is selected based on a positional relationship between the plurality of vertical vibration devices in a plan view. A control device for a vibration isolation test apparatus according to claim 2.

7. A table on which an object to be excited is placed; A vertical vibration device connected to the table portion; a horizontal vibration device that vibrates the table portion in a horizontal direction; A control method for a vibration isolation testing apparatus comprising: When the table section is vibrated in a horizontal direction by the horizontal vibration device while the object to be vibrated is placed on the table section with a vertical load applied thereto, a vertical load compensation value, which is a compensation value for a vertical load command, is added to a vertical load command of the vertical vibration device so as to reduce a fluctuation in the vertical load caused by the horizontal vibration of the table section by the horizontal vibration device. A method for controlling a vibration isolation test device.

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