Vibration damping device

Abstract

To provide a vibration damping device that is capable of keeping a vibration damping function favorable even upon parameter fluctuation of a vibration damping target structure.SOLUTION: There is provided a vibration dumping device including: a hybrid mass damper 3 that includes a tuned mass damper 31 provided at a vibration damping target structure 2 and an active controller 32 for performing active control on the tuned mass damper 31; a measurement device 4 that measures a response of the vibration damping target structure 2; and adaptative control laws 5 that makes the hybrid mass damper 3 adapt to the response of the vibration damping target structure 2 measured by the measurement device 4. The adaptive control laws 5 have: an adaptive law 51 for identification of a parameter of the vibration damping target structure 2 to be performed based on the response of the vibration damping target structure 2 measured by the measurement device 4 for a predetermined period; and a control law 52 for determining control input of the hybrid master damper 3 in a manner such as to minimize the response of the vibration damping target structure 2 based on the parameter of the vibration damping target structure 2 identified by the adaptive law 51.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vibration damping device. [Background technology]

[0002] Known vibration control devices used in structures include tuned mass dampers (TMDs), which add a weight to the top of a structure, etc., to offset the shaking of the building with that weight, and tuned mass dampers, which combine a TMD with an active control device (see, for example, Patent Document 1). Hereinafter, tuned mass dampers will sometimes be referred to as TMDs, and hybrid mass dampers will sometimes be referred to as HMDs. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-312302 Summary of the Invention [Problem to be solved by the invention]

[0004] TMD synchronizes the weight with the structure by connecting it to the appropriate springs and dampers, so if parameters such as the period change due to the structure's usage conditions or earthquake experience, the synchronization can go out and the seismic control performance can deteriorate. For this reason, there are hurdles to adopting tuned vibration control devices in reinforced concrete structures, whose periods are likely to elongate due to earthquakes and aging. Even with the control methods commonly used in HMDs, the control system is created assuming that the structural characteristics of the object are known, so there is a possibility that the effect will be lost if the object's period fluctuates, or that the control may actually increase the response. There are highly robust TMDs that can accommodate a wider periodic range by tuning multiple masses to different periods, but their damping effect tends to be smaller than that of TMDs with the same number of masses tuned to a single period.

[0005] SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a vibration control device that can maintain good vibration control function even when the parameters of the structure to be controlled fluctuate. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, a vibration control device according to the present invention comprises a hybrid mass damper equipped with a tuned mass damper provided in a target structure to be vibration-controlled and an active control device that actively controls the tuned mass damper; a measurement device that measures the response of the target structure to be vibration-controlled; and an adaptive control law that adapts the hybrid mass damper to the response of the target structure to be vibration-controlled measured by the measurement device. The adaptive control law comprises an adaptation law that identifies parameters of the target structure to be vibration-controlled based on the response of the target structure to be vibration-controlled measured by the measurement device over a predetermined period of time, and a control law that determines a control input for the hybrid mass damper so as to minimize the response of the target structure to be vibration-controlled based on the parameters of the target structure to be vibration-controlled identified by the adaptive law.

[0007] In the present invention, even if the parameters of the vibration-controlled structure are unknown, the parameters of the vibration-controlled structure are identified based on the response of the vibration-controlled structure measured by a measuring device over a predetermined period of time, and the control input of the hybrid mass damper is determined so as to minimize the response of the vibration-controlled structure based on the parameters of the vibration-controlled structure identified by the adaptive law, so that the vibration-controlled function can be maintained well even if the parameters of the vibration-controlled structure fluctuate.

[0008] Furthermore, in the vibration damping device according to the present invention, the control law may be formulated as in the following equations (1) to (5), and in each control cycle, the unknown parameters in the following equations (2) to (4) may be adjusted by the adaptive law so as to approach actual values ​​using the history of the output y(t) and the history of the control input u(t) for a predetermined period, a stochastic unknown white disturbance w(t), and a shift operator zy(t) = y(t+1), and the control input u may be determined by the control law so as to minimize the root mean square of the output of the controlled object after d steps.

[0009]

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[0010] With this configuration, the adaptive law is formulated as described above, and the control input of the hybrid mass damper can be determined with high accuracy. [Effects of the Invention]

[0011] According to the present invention, the vibration damping function can be maintained well even when the parameters fluctuate. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic diagram of a vibration damping device according to an embodiment of the present invention. [Figure 2] 10 is a graph showing the analysis results (top floor acceleration power spectral density) when there is no periodic fluctuation of the vibration control target structure using an HMD designed using a conventional method. [Figure 3] This is a graph showing the analysis results (top floor acceleration power spectral density) when the period of a vibration-controlled structure using an HMD designed using a conventional method is extended by 20%. [Figure 4] 10 is a graph showing the analysis results (top floor acceleration power spectral density) of a vibration-controlled structure using the vibration control device of this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] A vibration damping device according to an embodiment of the present invention will now be described with reference to FIGS. As shown in FIG. 1, the vibration control device 1 according to this embodiment includes a hybrid mass damper 3 (hereinafter referred to as HMD3) provided in a vibration control target structure 2, a measurement device 4 that measures the response of the vibration control target structure 2, and an adaptive control law 5 that adapts the HMD3 to the response of the vibration control target structure 2 measured by the measurement device 4.

[0014] The HMD 3 includes a tuned mass damper 31 (hereinafter referred to as TMD 31) and an active control device 32 that actively controls the TMD 31. The HMD 3 is installed on top of the target structure 2 to be vibration-controlled. The measurement device 4 measures the acceleration response, displacement response, etc. of the target structure 2 to be vibration-controlled. The adaptive control law 5 includes an adaptive law 51 and a control law 52. The adaptive law 51 identifies parameters of the target structure 2 to be vibration-controlled based on the response of the target structure 2 to be vibration-controlled measured by the measurement device 4. The control law 52 determines a control input for controlling the HMD 3 to minimize the response of the target structure 2 to be vibration-controlled based on the parameters of the target structure 2 identified by the adaptive law 51. That is, in this embodiment, the HMD 3 is designed using the adaptive control law 5. The target structure 2 to be vibration-controlled may be a building or something other than a building. For example, the target structure 2 to be vibration-controlled may be a bridge.

[0015] Figures 2 and 3 show the top-floor acceleration power spectral density (PSP) results of an earthquake response analysis conducted on a six-story building with a 2-second vibration period. A 1.5% mass ratio HMD was designed for this structure. Figure 2 shows the analysis results for the case where the vibration-controlled structure's period remained constant. Figure 3 shows the analysis results for the case where the first-order natural period of the vibration-controlled structure was elongated by 20%. As shown in Figure 2, the installation of the HMD reduced the first-order acceleration PSP even without control, and active control further reduced the response. On the other hand, as shown in Figure 3, the installation of the HMD increased the response compared to the case without control, and active control further increased the response. This is because the HMD detuned due to a shift in the period of the vibration-controlled structure, and when not in control, the mass actually vibrated the vibration-controlled structure. Furthermore, with regard to active control, conventional control laws such as LQR are based on the assumption that the parameters of the structure to be controlled are obtained with a certain degree of accuracy, so if the period of the structure to be controlled is shifted, the control effect may be lost or the response may actually increase.

[0016] To solve the above-mentioned problems, in this embodiment, the HMD 3 is designed using the adaptive control law as described above. In the following, the control law 52 is formulated as in the following equations (1) to (5). Although a one-input, one-output system will be described below, a multiple-input, multiple-output system is also acceptable. First, let us assume that the output of the controlled object including the vibration damping device 1 is y(t), the control input is u(t), the stochastic unknown white disturbance is w(t), and the shift operator is zy(t)=y(t+1), and that the relationship between them can be expressed by the following discrete-time system equation. Note that z is called the discrete-time system shift operator, and multiplying the signal of the current step by z results in the signal of the next time step.

[0017]

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[0018] Here, as described in equations (2) to (4), the system parameters a k , b k , c k Both can be unknown. k , b k is a coefficient that determines the characteristics of the system. k is a coefficient that determines how the disturbance affects the output of the system (in this case, the building). k , b k If is not known and given accurately, the effectiveness of control will be low. n, m, and l are known. n, m, and l are constants that represent the size of the system's dimensions (how many degrees of freedom it has). On the other hand, the objective of control is to asymptotically minimize the following evaluation function while automatically adjusting the unknown system parameters of the vibration control device 1 according to the observed output y(t) of the controlled object, where E{X} is the expected value of X.

[0019] In each control cycle, the unknown parameters are adjusted using an adaptive law using the history of the output y of the controlled object and the history of the control input u over a predetermined period (for example, a period from some time in the past up to the design time) so that the output y of the above equations (1) to (4) approaches the output of the controlled object, and the control input u is determined using a control law so that the root mean square of the output of the controlled object after d steps is minimized.

[0020] In the vibration control device 1 of this embodiment, even if the parameters of the vibration-control target structure 2 are unknown, the parameters of the vibration-control target structure 2 are identified based on the response of the vibration-control target structure 2 measured by the measuring device 4 over a predetermined period of time, and the control input of the hybrid mass damper 3 is determined so as to minimize the response of the vibration-control target structure 2 based on the parameters of the vibration-control target structure 2 identified by the adaptive law, so that the vibration control function can be maintained well even if the parameters of the vibration-control target structure 2 fluctuate. By formulating the adaptive law as described above, the control input of the hybrid mass damper 3 can be determined with high accuracy.

[0021] Figure 4 shows an example of the response reduction effect expected when using the vibration control device 1 of this embodiment. Figure 4 adds the response expected from an HMD designed using the adaptive control law of this embodiment to Figure 3, which shows a case where the primary period of the vibration-control target structure has increased by 20%. In conventional methods, the control law is based on the assumption that the parameters of the vibration-control target structure have been acquired with a certain degree of accuracy. Therefore, if the period of the vibration-control target structure is shifted, the control effect may be lost or the response may actually increase. With the vibration control device 1 of this embodiment, even if the parameters of the vibration-control target structure are unknown, the parameters are estimated from past observation results and control is performed based on these. Therefore, the vibration control function can be maintained well even if the period of the vibration-control target structure is shifted or the parameters fluctuate.

[0022] Although the embodiment of the vibration damping device according to the present invention has been described above, the present invention is not limited to the above embodiment and can be modified as appropriate within the scope of the invention.

[0023] The Sustainable Development Goals (SDGs) are 17 international goals adopted at the United Nations Summit in September 2015. The vibration control device according to this embodiment can contribute to achieving one of the 17 SDGs, such as goal 9, "Create inspiring infrastructure for industry, innovation and sustainable development." [Explanation of symbols]

[0024] 1. Vibration control device 2. Structure to be controlled 3 Hybrid Mass Damper (HMD) 4. Measuring equipment 5 Adaptive control law 31 Tuned Mass Damper (TMD) 32 Active Control Device 51 Adaptation Law 52 Control Law

Claims

1. a hybrid mass damper including a tuned mass damper provided in a target structure and an active control device that actively controls the tuned mass damper; a measuring device for measuring the response of the target structure; an adaptive control law that adapts the hybrid mass damper to the response of the target structure measured by the measurement device; The adaptive control law is an adaptive law for identifying parameters of the vibration-control target structure based on the response of the vibration-control target structure measured by the measuring device for a predetermined period of time; a control law that determines a control input of the hybrid mass damper so as to minimize a response of the target structure to be vibration-controlled based on the parameters of the target structure to be vibration-controlled identified by the adaptive law.

2. The control law is formulated as the following equations (1) to (5):

2. The vibration damping device according to claim 1, wherein in each control cycle, the adaptive law adjusts the unknown parameters of the following equations (2) to (4) so ​​that they approach actual values ​​using the history of the output y(t) and the history of the control input u(t) for a predetermined period, a stochastic unknown white disturbance w(t), and a shift operator zy(t) = y(t + 1), and the control input u is determined using the control law so that the root mean square of the output of the controlled object after d steps is minimized. [Equation 1]

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