Vibration damping system and vibration damping method

Abstract

To provide a vibration control system and a vibration control method capable of improving the vibration control performance of a building from a frequently occurring medium or small earthquake to an extremely rarely occurring large earthquake.SOLUTION: A vibration control system 1 for controlling vibration of a building 2 (multi-layer structure) having a soft layer part 3 having horizontal rigidity smaller than that of other layers in an intermediate layer, includes an AMD6 (active mass damper) provided at the top of a building 2, and an MPC7 (model prediction control unit) for predicting responses of the building 2 and the AMD6 when an external force is applied to the building 2, and controlling the AMD6 to reduce response accelerations of the building 2 according to the predicted responses.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vibration control system and a vibration control method.

Background Art

[0002] In recent years, the number of super high-rise buildings and mid-rise buildings with a high aspect ratio has been increasing, and the requirements for the seismic and vibration control performance of buildings have become more sophisticated and complex. Not only is it necessary to ensure safety during a major earthquake, but there is also an increasing need for more detailed measures, such as improving the habitability during frequent small and medium earthquakes, maintaining functions and improving safety by quickly suppressing aftershocks after a major earthquake, and preventing elevators from stopping. For example, Patent Document 1 discloses a seismic isolation system that determines the damping force of a damper used for seismic isolation or vibration control in consideration of the characteristics of earthquakes and the response characteristics of buildings.

[0003] As one type of vibration control structure, a single or multiple floors within a building are made into a flexible layer with a smaller horizontal rigidity compared to other floors, and the upper part of this flexible layer is used as a mass damper, such as a building mass damper (BMD), or a seismic isolation layer serving as a flexible layer is provided on an intermediate floor, and the vibration control performance of the building is enhanced by effectively adding damping through the flexible layer.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Such a structure is mainly designed to enhance the vibration damping effect against extremely rare large earthquakes (Lv.2) by setting the characteristics of the flexible layer. Therefore, there are cases where sufficient vibration damping effects cannot be obtained for frequently occurring small and medium-sized earthquakes. Also, even when setting the flexible layer characteristics as a building mass damper, in order to suppress the deformation during strong winds, the rigidity of the flexible layer is set to be larger than the optimal rigidity of the flexible layer as a building mass damper, and there are cases where the additional damping becomes small.

[0006] Therefore, an object of the present invention is to provide a vibration damping system and a vibration damping method capable of improving the vibration damping performance of a building from frequently occurring small and medium-sized earthquakes to extremely rare large earthquakes.

Means for Solving the Problem

[0007] To achieve the above object, a vibration damping system according to the present invention is a vibration damping system for damping a multi-layer structure having a flexible layer portion with a smaller horizontal rigidity than other layers in an intermediate layer, and includes an active mass damper provided at the top of the multi-layer structure and the front controlling the active mass damper control unit and having such that an upper structural part located above the flexible layer part in the multilayer structure is used as a building mass damper, and when an external force acts on the multilayer structure, the control unit uses the performance limit of the active mass damper and the discrete state equation from the external force to predict the responses of the multilayer structure and the active mass damper at each step separated by a predetermined time interval, and increases the additional damping imparted by the building mass damper according to the predicted response to control the active mass damper so as to reduce the response acceleration of the multilayer structure which is characterized by. To achieve the above object, a vibration control system according to the present invention is a vibration control system for controlling vibration of a multilayer structure having a flexible layer part with a lower horizontal rigidity than other layers in an intermediate layer, and includes an active mass damper provided at the top of the multilayer structure and a control unit for controlling the active mass damper. When an external force acts on the multilayer structure, the control unit uses the performance limit of the active mass damper and the discrete state equation from the external force to predict the responses of the multilayer structure and the active mass damper at each step separated by a predetermined time interval, and controls the active mass damper so as to reduce the response acceleration of an arbitrary floor in the multilayer structure according to the predicted response to reduce the response acceleration of the multilayer structure.

[0008] To achieve the above object, a vibration damping method according to the present invention is a vibration damping method for damping a multi-layer structure having a flexible layer portion with a smaller horizontal rigidity than other layers in an intermediate layer. An active mass damper is provided at the top of the multi-layer structure, A control device for predicting the responses of the multilayer structure and the active mass damper and controlling the active mass damper is provided, and an upper structural part located above the flexible layer part in the multilayer structure is used as a building mass damper. when an external force acts on the multi-layer structure, Using the performance limit of the active mass damper and the discrete state equation from the external force, at each step separated by a predetermined time interval predicting the responses of the multi-layer structure and the active mass damper, and controlling the active mass damper according to the predicted responses increasing the additional damping imparted by the building mass damper to reduce the response acceleration of the multi-layer structure, which is characterized by. In order to achieve the above object, a vibration control method according to the present invention is a vibration control method for a multi-layer structure having a flexible layer portion with a horizontal rigidity smaller than that of other layers in an intermediate layer. An active mass damper is provided at the top of the multi-layer structure, a control device for predicting responses of the multi-layer structure and the active mass damper and controlling the active mass damper is provided, and when an external force acts on the multi-layer structure, responses of the multi-layer structure and the active mass damper are predicted for each step divided at a predetermined time interval using a discrete state equation based on the performance limit of the active mass damper and the external force, and the active mass damper is controlled so as to reduce the response acceleration of an arbitrary floor in the multi-layer structure according to the predicted response, thereby reducing the response acceleration of the multi-layer structure.

[0009] In the present invention, by the model predictive control unit predicting the response of the active mass damper and considering the device constraints, it becomes possible to utilize the performance limits (stroke, thrust, speed) of the device without restricting the disturbance levels targeted from small input levels to large input levels. For this reason, the operating range of the active mass damper is expanded, and the vibration control effect against frequently occurring small and medium earthquakes and large earthquakes can be improved. Also, in the present invention, since the constraints of the active mass damper device can be clearly considered, it is not necessary to expect an excessive safety factor with respect to the limit performance of the device, and it becomes possible to perform active and stable control that effectively utilizes the performance limit of the device.

[0010] Also, in the vibration control system according to the present invention, an upper structure portion located above the flexible layer portion in the multi-layer structure is used as a building mass damper, and the model predictive control unit may control the active mass damper so that the additional damping provided by the building mass damper increases.

[0011] In the present invention, by the model predictive control unit controlling the movement of the building mass damper by the active mass damper, the building mass damper structure can be brought closer to the optimal synchronization state, and the response acceleration of the entire structure can be further reduced. Also, in the present invention, by making the building mass damper a control target of the active mass damper, it is possible to efficiently improve the vibration control effect during an earthquake even when the mass ratio of the active mass damper with respect to the entire structure is not sufficient. Furthermore, in the present invention, it is a structure in which a building mass damper and an active mass damper are combined. As a result, the main vibration control elements are substantially concentrated on the flexible layer and the vibration control device (active mass damper) at the top of the building, so the number of dampers installed between the layers can be reduced.

[0012] Also, in the vibration control system according to the present invention, the model predictive control unit may control the active mass damper so as to reduce the response acceleration of any floor in the multi-layer structure.

[0013] By adopting such a configuration, the constraints of the active mass damper can be clearly considered. Therefore, it is not necessary to expect an excessive safety factor for the limit performance of the device, and active and stable control that effectively utilizes the performance limit of the device becomes possible. In addition, by reducing the acceleration of an arbitrary layer by the active mass damper in the model predictive control unit, it is possible to reduce the acceleration response of a floor where the acceleration response tends to increase in a passive structure such as the floor immediately below a flexible layer.

[0014] Further, in the vibration control system according to the present invention, the model predictive control unit may control the active mass damper so as to reduce the response acceleration of the floor immediately below the flexible layer portion in the multi-layer structure.

[0015] By adopting such a configuration, it is possible to reduce the acceleration of the floor immediately below the flexible layer portion where the acceleration response increases.

Advantages of the Invention

[0016] According to the present invention, it is possible to improve the vibration control performance of a building from frequently occurring small and medium earthquakes to extremely rare large earthquakes.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

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Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Modes for Carrying Out the Invention

[0018] Hereinafter, the vibration control system and the vibration control method according to the embodiment of the present invention will be described with reference to FIGS. 1-15. As shown in FIG. 1, the vibration control system 1 according to the present embodiment is provided in a building 2 (multi-layer structure) such as a mid-rise building or a super high-rise building. In the building 2 of the present embodiment, a flexible layer part 3 having a smaller horizontal rigidity than other floors is provided in the intermediate layer. The part below the flexible layer part 3 in the building 2 is defined as the lower structure part 4, and the part above the flexible layer part 3 is defined as the upper structure part 5. The building 2A shown in Fig. 1 has a flexible story 3 provided at a relatively upper part of the building 2, and the upper structure part 5 acts as a mass damper. That is, a vibration control structure of a building mass damper (hereinafter referred to as BMD and BMD layer) is constructed in the building 2A. In the building 2A, the layer (story) constituting the flexible story 3 may be one layer or a plurality of layers. In the building 2B shown in Fig. 1, a seismic isolation layer is provided in an intermediate layer (intermediate story) between the lower structure part 4 and the upper structure part 5, and this seismic isolation layer is the flexible story 3. Hereinafter, the lower structure part 4 below the flexible story 3 may be referred to as the MB part (Main Building).

[0019] The vibration control system 1 includes an active mass damper 6 (hereinafter referred to as AMD6) provided on the roof (top) of the upper structure part 5, and a model predictive control unit 7 (Model Predictive Control, hereinafter referred to as MPC7) that predicts the responses of the building 2 and the AMD6 when an external force acts on the building 2, and controls the AMD6 so as to reduce the response acceleration of the building 2 according to the predicted responses.

[0020] The vibration control performance of the AMD6 is determined by two factors: the specifications of the device itself such as the mass ratio to the building 2 and the stroke (movement range), and the control law that determines how to move the mass of the moving part. Due to the characteristics of being installed on the roof of the building 2, there are limitations to the achievable stroke and mass of the AMD6. Therefore, in this embodiment, in order to improve the vibration control performance of the AMD6, an effective control law that can utilize the limited specifications for vibration control is set.

[0021] Note that since the conventional AMD6 control rule does not explicitly consider the mechanical constraints of the device, in order to maintain stable operation, the input level to be controlled is restricted, and it is mainly designed for wind disturbances and aftershocks during earthquakes. For small to large earthquakes exceeding a certain input level, the output is suppressed so as not to exceed the stroke to make a conservative operation, or the device itself is stopped, or it is made passive and operated as a TMD. Therefore, at present, the vibration control performance of AMD6 is not utilized very actively for earthquakes. Therefore, MPC7 is configured to perform control that can utilize up to the performance limit considering the constraints of AMD6 without restricting the input level of the target disturbance.

[0022] MPC7 predicts the future response of Building 2 at each time when an external force acts on Building 2 by using the mathematical model of Building 2, and derives an optimal control input within a predetermined constraint range. Thereby, MPC7 performs active and stable control that effectively utilizes up to the performance limit of AMD6 considering the constraints of the stroke, speed command value, and thrust of AMD6.

[0023] Fig. 2 shows an image of response prediction in MPC7. In MPC7, the response at each step is predicted using the following discrete state equation, which is the mathematical model of Building 2. And the control input is derived.

[0024]

Equation

[0025] The general evaluation function of MPC7 is shown below.

[0026]

Equation

[0027] The above evaluation function consists of the predicted state variables (responses of Building 2 and AMD6) and the quadratic form of the control input, where Q and R are the weight matrices for each. The selection of state variables (e.g., displacements and velocities of each floor) and the weight matrix are design parameters and can be arbitrarily set according to the control objective. FIG. 3 shows an example of the difference between the behavior of AMD6 under the control law of MPC7 according to the present embodiment and the behavior of AMD6 under the conventional control law (conventional method). In FIG. 3, the conventional method is shown by a thin line, and the control law by MPC7 is shown by a thick line. The broken line indicates the limit of the device specifications. In the conventional method, it operates with a stroke of about 70% to 80% of the limit of the device specifications. In contrast, it can be seen that the control law by MPC7 behaves such that it utilizes up to near the limit of the specifications. Also, FIG. 4 shows the behavior of the predicted response values around 30 seconds.

[0028] The control of the vibration control system 1 and the vibration control method according to the first embodiment efficiently reduces the response acceleration and sway of the entire Building 2 including the lower structure part 4 by controlling AMD6 so that MPC7 increases the additional damping given as BMD. The control of the vibration control system 1 and the vibration control method according to the first embodiment targets Building 2A in which a vibration control structure of a building mass damper as shown in FIG. 1 is constructed.

[0029] For BMDs deviated from the optimal tuning, AMD6 is installed to increase the additional damping. By predicting the response of Building 2 (e.g., for half the period of Building 2), the BMD is controlled by AMD6 so as to delay the phase of the BMD with respect to the lower structure part 4 and approach the optimal tuning state. By adding a cross-term of the responses of the upper structure part 5 and the lower structure part 4 to the evaluation function, a control input that can obtain the effect of shifting the phase is derived.

[0030] The BMD is a vibration control structure targeting the super high-rise building 2. A flexible story with relatively low rigidity compared to other stories is provided at a relatively upper part of the building 2, and the upper structure part 5 above the flexible story is designed as a TMD (Tuned Mass Damper) to reduce the response of the building 2 to earthquakes and winds. The TMD is a vibration control system 1 that reduces the response of the main structure by moving the tuned mass significantly. However, since the BMD can achieve a mass ratio that is overwhelmingly larger than that of a general TMD, it is possible to reduce the response not only of the lower structure part 4 below the flexible story, which is the main structure part, but also of the upper structure part 5, which is the tuned mass part. However, in the actual building 2, since there are limitations on the flexible story displacement, in order to prevent the flexible story displacement from exceeding the limit during a major earthquake or strong wind, it is necessary to ensure a rigidity and damping larger than the optimum value of the TMD obtained from the fixed-point theory. In that case, as shown in FIG. 5, the additional damping obtained as the TMD becomes smaller. FIG. 6 shows the response magnification of the lower structure when the rigidity is set to the optimum value and twice the optimum value.

[0031] In the present embodiment, for the BMD structure having a rigidity and damping larger than the optimum characteristics of the TMD in the fixed-point theory as described above, an AMD 6 is installed and controlled above the upper structure part 5 (above the BMD) to bring the BMD closer to the ideal behavior as a TMD, and the control of the AMD 6 that enables further reduction of the response of the building 2 will be described. In the optimum tuning state obtained from the fixed-point theory used in the design of the TMD, the phase of the TMD lags behind that of the main structure (building 2) by 90°. In the BMD, by applying the fixed-point theory to the model expressed as a two-degree-of-freedom system as shown in FIG. 7, an ideal behavior in which the phases of the upper structure part 5 and the lower structure part 4 are shifted, similar to the case of the TMD, is obtained, and higher additional damping can be obtained. Figure 8 shows the behaviors of the lower structure part 4 and the upper structure part 5 when impulse responses are given to the BMD expressed in a two-degree-of-freedom system with the stiffness being the optimal value and twice the optimal value. It can be confirmed that when the stiffness becomes twice the optimal value, the phase shift between the upper structure part 5 and the lower structure part 4 becomes smaller. In such a case, the inter-story displacement and inter-story velocity of the flexible layer between the upper structure part 5 and the lower structure part 4 become smaller, the energy dissipated by the flexible layer becomes smaller, and as a result, the additional damping provided as the BMD becomes smaller. Therefore, in the control law by the MPC7 of the present embodiment, by controlling the AMD6 so as to delay the phase of the displacement and velocity of the BMD having a stiffness and damping larger than the optimal value with respect to the topmost layer of the MB part, it is considered to increase the energy dissipated by the flexible layer during the vibration of the building 2 and increase the additional damping by the BMD.

[0032] In the control law by the MPC7 of the present embodiment, in order to bring the BMD deviated from the optimal synchronization closer to the ideal behavior, it is considered to shift the phase of the BMD so as to be delayed from the lower structure part 4. Since the MPC7 predicts the response of the building 2 up to a certain future interval and derives the control input, it is possible to design a control law considering the time response such as the phase shift in a certain interval. As shown in the above formula (2), the MPC7 usually derives a control input that satisfies the constraint conditions using an evaluation function composed of the sum of squares of each state quantity and input. However, with only such a sum of squares, since weighting is performed on the magnitude of each state quantity, the phase shift of the response of each layer cannot be considered. In contrast, in addition to the sum of squares of each layer, a term obtained by multiplying the responses of the lower structure part 4 and the upper structure part 5 (hereinafter referred to as the cross term) is used to set an evaluation function as follows.

[0033]

Equation

[0034] The first item and the second item in the first line within the above evaluation function are respectively the quadratic form of the sum of the displacement and velocity responses of the layer immediately below the flexible layer of the lower structure part 4 (the fifth layer in this case where a 6-degree-of-freedom model is used) and the upper structure part 5. It can be seen that the cross-term appears in the second line after formula expansion. Since this cross-term becomes negative when the phases are shifted, it can be considered as a term that takes a smaller value as the phase of the response in the prediction interval is more shifted. As a result, it becomes possible to derive a control input that moves the phase of the BMD in the direction of shifting with respect to the response of the lower structure part 4, that is, in the direction approaching the optimal synchronization. For the BMD structure when the rigidity of the flexible layer is 2.3 times, the vibration control effect when controlled using the above evaluation function was examined. The 6-degree-of-freedom model shown in Fig. 9 was used for the analysis. Also, as the input wave, the notice wave created with a random phase of level 1 × 200% was used. To confirm whether it is approaching the optimal synchronization state by control, the response waveforms were used to identify the two building models and complex eigenvalue analysis was performed to examine the changes in the period and damping constant after control. Fig. 10 shows the maximum response ratio with respect to the non-controlled case, Fig. 11 shows the Fourier spectra of the accelerations of the fifth layer and the BMD layer, and Table 2 shows the results of the complex eigenvalue analysis.

[0035]

Table 1

[0036] As shown in Table 1, it can be seen that by control, the period mainly becomes longer in the first mode and approaches the optimal synchronization. Also, the damping constant has increased, and it is considered that by controlling AMD6, the BMD structure approaches the optimal synchronization state and the additional damping increases.

[0037] Next, the operation and effects of the vibration control system 1 and the vibration control method according to the first embodiment will be described. In the vibration control system 1 and the vibration control method according to the first embodiment, by predicting the response of the MPC7 and considering the device constraints, it is possible to utilize the performance limits (stroke, thrust, speed) of the device without restricting the disturbance levels targeted from small input levels to large input levels. For this reason, the operating range of the AMD6 is expanded, and the vibration control effect against frequently occurring small and medium earthquakes and large earthquakes can be improved. In the vibration control system 1 and the vibration control method according to the first embodiment, since the constraints of the AMD6 can be clearly considered, it is not necessary to expect an excessive safety factor for the limit performance of the device, and it is possible to perform active and stable control that effectively utilizes the performance limit of the device.

[0038] In the vibration control system 1 and the vibration control method according to the first embodiment, by controlling the movement of the BMD by the AMD6, the BMD structure can be brought closer to the optimal synchronization state, and the response acceleration of the entire structure can be further reduced. In the vibration control system 1 and the vibration control method according to the first embodiment, by using the BMD as the control target of the AMD6, even when the mass ratio of the AMD6 to the entire structure is not sufficient, the vibration control effect during an earthquake can be efficiently improved.

[0039] In the vibration control system 1 and the vibration control method according to the first embodiment, it is a structure that combines the BMD and the AMD6. As a result, the main vibration control elements are substantially concentrated on the flexible layer and the vibration control device (AMD6) at the top of the building 2, so the number of dampers installed between the layers can be reduced.

[0040] (Second Embodiment) Next, the second embodiment will be described with reference to the accompanying drawings. Members and parts that are the same as or similar to those of the first embodiment described above will be described using the same reference numerals, and descriptions thereof will be omitted. Configurations different from the embodiments will be described. The vibration control system and method according to the second embodiment differ in control from the vibration control system and method according to the first embodiment. The control of the vibration control system and method according to the second embodiment controls to reduce the acceleration of any floor, such as the floor directly below the flexible layer where the acceleration response increases. Also, by changing the control weight based on the predicted response of Building 2, variable gain control according to the input level is performed. The control of the vibration control system and method according to the second embodiment targets both Building 2A in which the vibration control structure of the building mass damper as shown in FIG. 1 is constructed and Building 2B having a seismic isolation layer on an intermediate floor.

[0041] Based on the Newmark's β method, a discrete state equation with an acceleration term added to the state quantity is used as follows.

[0042]

Equation

[0043]

Equation

[0044] By designing an evaluation function using the above state equation, it becomes possible to directly weight the acceleration response of Building 2. By weighting the acceleration response of an arbitrary floor (for example, the floor directly below the flexible floor), a control law that can reduce the acceleration of the targeted floor is obtained. Predict the response of Building 2 and change the weight in the evaluation function based on the maximum response value within the prediction interval, thereby performing variable gain control that can appropriately adjust the output of AMD6 according to the input level. Note that the variable gain control is also applicable to the control of the vibration control system 1 and the vibration control method according to the first embodiment.

[0045] The method of creating a discrete state equation based on the Newmark's β method will be described. First, the equation of motion of the entire Building 2 that receives the control force is given as follows.

[0046]

Number

[0047] At this time, the equation of motion that should hold at any step k + 1 with the time divided by the time interval tΔ is as follows.

[0048]

Number

[0049] Also, in the Newmark's β method, the displacement vector and velocity vector at the k + 1 step are assumed by the following equations. Here, δ and α are parameters that contribute to the accuracy of the Newmark's β method, with δ being approximately 0.5 and α being approximately 0.25.

[0050]

Number

[0051]

Number

[0052] By solving the simultaneous equations of the above equations (7), (8), and (9), the displacement vector X[k], velocity vector X (with a dot on top of X)[k] of the current step, and the control force u[k + 1] of the next step are used to obtain the displacement, velocity, and acceleration of the next step. At this time, since the control force u[k + 1] is future information, it is assumed that the control force does not change during the small step Δt, and u[k + 1] = u[k] is set. Based on equations (7), (8), and (9), the discrete state equation can be written as follows.

[0053]

Number

[0054]

Number

[0055] By designing the evaluation function using the above state equation, it becomes possible to directly weight the acceleration response of Building 2. In the control law proposed in the second embodiment, the following evaluation function was set with the main purpose of reducing the acceleration response of the floor directly below the flexible floor (the 5th floor) where the acceleration response is likely to increase.

[0056]

Equation

[0057] Here, the first term of the evaluation function is the term for reducing the acceleration of the topmost floor of the MB section, and the second term is the term for reducing the sum of the accelerations of the topmost floor of the MB section and the BMD. This is a term for suppressing the increase in the response acceleration of the BMD due to AMD6. Here, for the first term and the second term, it is assumed that the ground acceleration is 0 in the prediction interval and Building 2 vibrates freely. This is because it is difficult to predict the future ground acceleration. Next, in order to fully utilize the capabilities of AMD6 for various intensities of ground motion, by making the weights q3, q4, and r indicated by the deficit in Equation (12) depend on the state quantities of Building 2, a control system is designed that can appropriately adjust the output of AMD6 according to the control characteristics in accordance with the input level in response to the response of Building 2. q3, q4, and r were all determined by the following equations using the sigmoid function f(x BMD ) shown in Fig. 12. However, this sigmoid curve was designed based on the weights and the displacement response of the 6th floor (BMD floor) when designing the fixed gain MPC7 with K-R1_200% and K-R1_50% as the design ground motion.

[0058]

Equation

[0059]

Equation

[0060]

Number

[0061] Also, for the fixed gain MPC7, which is the comparison method used in the following analysis and discussion, f(x BMD ) was fixed at 10.

[0062] The control of the vibration control system and method according to the second embodiment was examined for the BMD structure when the rigidity of the soft layer was 2.3 times that of the first embodiment. The vibration control effect was examined when the above evaluation function was used for control. A 6-degree-of-freedom model shown in FIG. 9 was used for the analysis. Also, as the input waves, the ground motion wave × 200% and the ground motion wave × 100% created with a random phase of level 1 were used. FIG. 13 shows the time history response to the ground motion wave × 200%. Focusing on the time period from 20 s to 26 s, when the displacement of the BMD layer is small, f(x BMD ) is small, and as a result, it can be confirmed that the thrust of AMD6 is larger under the control by MPC7 of this embodiment than in the comparison method. Also, focusing on the time period from 27 s to 36 s, when the displacement of the BMD layer is large, f(x BMD ) is large, and as a result, it can be confirmed that the thrust of AMD6 is of the same magnitude as in the comparison method. Next, FIG. 14 shows the time history response to the ground motion wave × 100%. Since the displacement of the BMD layer is small in all time periods, f(x BMD ) is small, and as a result, it can be confirmed that the thrust of AMD6 is larger under the control by MPC7 of this embodiment than in the comparison method. From these results, it can be confirmed that in the control rule by MPC7 of this embodiment, the ability of AMD6 can be fully utilized more than in the comparison method regardless of the magnitude of the response of Building 2.

[0063] Fig. 15 shows the maximum response ratios of the fixed-gain MPC7 and the variable-gain MPC7 to non-control. For ground motions with a large intensity such as K-R1×200%, the reduction rates of acceleration and displacement of the five-story building are about the same for both the fixed-gain MPC7 and the variable-gain MPC7. However, for ground motions with a relatively small intensity such as K-R1×100%, it can be confirmed that the variable-gain MPC7 reduces the response more significantly than the fixed-gain MPC7 in terms of both the acceleration and displacement of the five-story building. From these facts, it can be confirmed that the control law by MPC7 of this embodiment has a response reduction effect similar to that of the fixed-gain MPC7 for large-intensity ground motions and a larger response reduction effect than the fixed-gain MPC7 for small-intensity ground motions. By appropriately changing the weight according to the magnitude of the building 2 response, it can be confirmed that the control law by MPC7 of this embodiment can fully utilize the device capabilities of AMD6 to reduce the seismic response of building 2 for ground motions of various intensities.

[0064] In the vibration control system and method according to the second embodiment, similar to the vibration control system 1 and method according to the first embodiment, by predicting the response of AMD6 and considering the device constraints by MPC7, it is possible to utilize the performance limits (stroke, thrust, speed) of the device without restricting the disturbance levels targeted from small input levels to large input levels. For this reason, the operating range of AMD6 is expanded, and the vibration control effect against frequently occurring small and medium earthquakes and large earthquakes can be improved. In the vibration control system and method according to the second embodiment, since the constraints of AMD6 can be clearly considered, it is not necessary to expect an excessive safety factor for the limit performance of the device, and positive and stable control that effectively utilizes the performance limit of the device becomes possible.

[0065] In the vibration control system and method according to the second embodiment, by reducing the acceleration of an arbitrary layer by AMD6, it is possible to reduce the acceleration response of the floor where the acceleration response tends to increase in a passive structure such as the floor directly below a flexible layer. For example, by controlling to reduce the response acceleration of the floor directly below the flexible layer, the acceleration of the floor directly below the flexible layer where the acceleration response increases can be reduced.

[0066] As described above, the embodiments of the vibration control system and the vibration control method according to the present invention have been explained. However, the present invention is not limited to the above embodiments and can be appropriately modified without departing from the spirit thereof.

Description of Reference Numerals

[0067] 1 Vibration control system 2 Building (multi-story structure) 3 Soft story 4 Lower structure part 5 Upper structure part 6 AMD (Active Mass Damper) 7 MPC (Model Predictive Control Unit)

Claims

1. In a vibration control system for controlling the vibration of a multi-layer structure having a flexible layer portion with a lower horizontal rigidity than other layers in an intermediate layer, an active mass damper provided at the top of the multi-layer structure, and a control unit for controlling the active mass damper, and having, an upper structure portion located above the flexible layer portion in the multi-layer structure is used as a building mass damper, when an external force acts on the multi-layer structure, the control unit uses the performance limit of the active mass damper and the external force to predict the responses of the multi-layer structure and the active mass damper at each step separated by a predetermined time interval using a discrete state equation, and increases the additional damping applied by the building mass damper according to the predicted response to reduce the response acceleration of the multi-layer structure. A vibration control system characterized by controlling the active mass damper.

2. In a vibration control system for controlling the vibration of a multi-layer structure having a flexible layer portion with a lower horizontal rigidity than other layers in an intermediate layer, an active mass damper provided at the top of the multi-layer structure, and a control unit for controlling the active mass damper, and having, when an external force acts on the multi-layer structure, the control unit uses the performance limit of the active mass damper and the external force to predict the responses of the multi-layer structure and the active mass damper at each step separated by a predetermined time interval using a discrete state equation, and reduces the response acceleration of an arbitrary floor in the multi-layer structure according to the predicted response to reduce the response acceleration of the multi-layer structure. A vibration control system characterized by controlling the active mass damper.

3. The vibration control system according to claim 2, wherein the control unit controls the active mass damper so as to reduce the response acceleration of the floor immediately below the flexible layer portion in the multi-layer structure.

4. In a vibration control method for controlling the vibration of a multi-layer structure having a flexible layer portion with a lower horizontal rigidity than other layers in an intermediate layer, an active mass damper is provided at the top of the multi-layer structure, a control device for predicting the responses of the multi-layer structure and the active mass damper and controlling the active mass damper is provided, an upper structure portion located above the flexible layer portion in the multi-layer structure is used as a building mass damper, When an external force acts on the multi-layer structure, the responses of the multi-layer structure and the active mass damper are predicted for each step divided by a predetermined time interval by using the performance limit of the active mass damper and the discrete state equation from the external force, and the active mass damper is controlled so as to increase the additional damping applied by the building mass damper according to the predicted response and reduce the response acceleration of the multi-layer structure. A vibration control method characterized by this.

5. In a vibration control method for controlling a multi-layer structure having a flexible layer portion with a horizontal rigidity smaller than that of other layers in an intermediate layer, An active mass damper is provided at the top of the multi-layer structure, A control device for predicting the responses of the multi-layer structure and the active mass damper and controlling the active mass damper is provided, When an external force acts on the multi-layer structure, the responses of the multi-layer structure and the active mass damper are predicted for each step divided by a predetermined time interval by using the performance limit of the active mass damper and the discrete state equation from the external force, and the active mass damper is controlled so as to reduce the response acceleration of an arbitrary floor in the multi-layer structure according to the predicted response and reduce the response acceleration of the multi-layer structure. A vibration control method characterized by this.

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