Vibration control system for mobile objects and vibration control method for mobile objects

Abstract

By taking into account the constraints related to active mass, vibrations of structures fixed to the moving body are effectively reduced. [Solution] The vibration damping system 100 for a moving body includes a traveling device 4 configured to move the moving body 1, and an active mass driving device 52 configured to drive an active mass 51 installed on structures 12, 14, and 15 and drivable within a stroke. The control device 9 calculates a target active mass acceleration for reducing vibrations of structures 12, 14, and 15 by driving the active mass 51, based on the acceleration of the moving body 1. The control device 9 calculates the control amount of the active mass driving device 52 for damping vibrations of structures 12, 14, and 15 by solving an optimization problem concerning the tracking error of the target active mass acceleration under the stroke constraint that the position of the active mass during the movement of the moving body 1 remains within the stroke.

Claims

[Claim 1] A movable body whose structure is the target of vibration damping, A traveling device configured to move the aforementioned mobile body, An active mass drive device installed in the aforementioned structure and configured to drive an active mass that can be driven within a stroke, The system includes a control device configured to control the aforementioned traveling device and the aforementioned active mass drive device, The control device is A target active mass acceleration for reducing the vibration of the structure by driving the active mass is calculated based on the acceleration of the moving body generated by the moving body. A vibration damping system for a moving body, which calculates the control amount of the active mass drive device for damping the structure by solving an optimization problem relating to the tracking error of the target active mass acceleration, under the stroke constraint that the position of the active mass during the movement of the moving body remains within the stroke. [Claim 2] The control device is Prior to the start of movement of the aforementioned moving body, The acceleration of the moving body is calculated based on the travel position command that specifies the travel position of the moving body. The acceleration generated in the structure by the movement of the moving body by the aforementioned traveling device is calculated based on the prediction model of the moving body and the travel position command. The difference between the moving body acceleration and the running acceleration is taken as the target active mass acceleration and used as part of the objective function of the optimization problem to calculate the control variable. The vibration damping system for a moving body according to claim 1, wherein the calculated control amount is used to perform feedforward control of the active mass drive device after the moving body starts moving. [Claim 3] The control device is Prior to the start of movement of the moving body, the control amount at the starting position specified by the movement position command is calculated, The vibration damping system for a moving body according to claim 2, wherein the feedforward control is performed at least at the starting position using the calculated control amount. [Claim 4] The control device is Prior to the start of movement of the moving body, the control amount is calculated at the end position specified by the movement position command, in addition to the start position. The vibration damping system for a moving body according to claim 3, further performing the feedforward control at the end position using the calculated control amount. [Claim 5] The control device is Prior to the start of movement of the moving body, the control amount is calculated from the starting position to the ending position, The vibration damping system for a moving body according to claim 4, wherein the feedforward control is performed from the start position to the end position using the calculated control amount. [Claim 6] The control device is Based on the acceleration measurement value detected by the acceleration sensor placed in the structure, the feedback control amount of the active mass drive device is calculated. The vibration damping system for a moving body according to claim 2, wherein the active mass drive device is controlled while the moving body is in motion using the control amount and the feedback control amount. [Claim 7] The vibration damping system for a moving body according to claim 2, wherein the control device calculates the control amount by model predictive control (MPC) on the nominal model of the moving body prior to the start of the moving body's movement. [Claim 8] The vibration damping system for a moving body according to claim 7, wherein the control device calculates the control amount by offline calculation of the model predictive control from a start position to an end position specified by the travel position command, prior to the start of travel of the moving body. [Claim 9] There exists a torque range that the active mass drive device can output, The control device calculates the control amount by solving the optimization problem under a torque constraint that, in addition to the stroke constraint, the torque output from the active mass drive device falls within the torque range, as described in any one of claims 1 to 7. [Claim 10] A method for damping vibrations of a moving body, which includes a structure equipped with an active mass that can be driven within a stroke, The steps include: a processor executing calculations for damping vibrations of the structure by driving the active mass; The step includes driving the active mass with an active mass drive device according to the result of the calculation process, The step of performing the aforementioned calculation process is: A step of calculating a target active mass acceleration for reducing the vibration of the structure by driving the active mass, based on the acceleration of the moving body generated in the moving body, A method for damping vibrations of a moving body, comprising the step of calculating a control amount for the active mass drive device for damping vibrations of the structure by solving an optimization problem relating to the tracking error of the target active mass acceleration under the stroke constraint that the position of the active mass during the movement of the moving body remains within the stroke. [Claim 11] The step of performing the aforementioned calculation process is: Prior to the start of movement of the aforementioned moving body, The acceleration of the moving body is calculated based on the travel position command that specifies the travel position of the moving body. The acceleration generated in the structure by the movement of the moving body is calculated based on the prediction model of the moving body and the movement position command. The step includes calculating the control variable by using the difference between the moving body acceleration and the running acceleration as the target active mass acceleration and using it as part of the objective function of the optimization problem, The vibration damping method for a moving body according to claim 10, wherein the step of driving the active mass includes the step of performing feedforward control of the active mass drive device after the moving body has started moving, using the controlled amount.

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