AMD device and its control program

Abstract

To provide an AMD (active mass damper) device capable of simply designing a control unit of the AMD (active mass damper) device from parameters of an optimally designed virtual TMD, and capable of being verified as a TMD model well known by architects or the like.SOLUTION: An AMD (active mass damper) device 1 of the present invention comprises an AMD movable mass 2 that can reciprocate with respect to a structure M, a sensor 3 that detects vibration motion of the structure M, an actuator 4 that drives the AMD movable mass 2, and a control unit 5 that controls the actuator 4. The control unit 5 generates a displacement command to the movable mass 2 of a real AMD machine 10 toward the actuator 4, using a measured vibration behavior of the structure M, and a transfer function to a virtual mass acceleration or velocity of a virtual TMD assuming that the virtual TMD tuned so as to control a control object mode of the structure M is installed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This invention relates to an AMD device (active mass damper) and its control program. More specifically, it relates to an AMD device and its control program that allows the control unit of an active mass damper to be easily designed by using the response of an optimally designed dynamic model of a virtual TMD as the command value of the AMD, and that makes it possible to verify the effectiveness of the AMD device as a TMD model that is well known to architectural designers and the like. [Background technology]

[0002] Conventionally, known devices for suppressing vibrations of structures caused by, for example, earthquake motion or wind force include tuned mass dampers (TMDs), which attach a movable mass to the structure and synchronize weights and springs with the movement of the floor to suppress vibrations using the resulting reaction force, and active mass dampers (AMDs), which are equipped with a movable mass installed on the structure so that it can move back and forth and an actuator that drives the movable mass.

[0003] The TMD is a passive vibration control device that does not excite the object to be damped, and has advantages in terms of stable control, simple structure, cost and reliability, but is only effective against vibrations very close to the design frequency.

[0004] To address the drawbacks of

[0003] above, the robustness of TMDs can be improved by increasing the mass ratio (increasing the mass) or by installing multiple TMDs with different design frequencies.

[0005] However, the method described in

[0004] above tends to increase the total weight of the TMD mass, and since there is an upper limit to the weight that can be installed on the controlled object, it is required to design the mass to be less than this weight.

[0006] The AMD is an active vibration control device that has higher vibration control performance over a wider range of vibrations than the TMD, but it can sometimes excite the object being controlled.

[0007] Therefore, controller designers are required to design controllers that do not excite the controlled object as much as possible.

[0008] The control units of typical AMDs are generally designed using modern control theory and model matching methods, which makes them difficult to design, and because the control is a black box, it cannot be incorporated into an analytical model and verified, so architectural designers avoid them.

[0009] Patent Document 1 discloses an active mass damper that includes a movable mass that is installed so as to be able to reciprocate relative to a structure, an actuator that drives the movable mass, a control unit that controls the actuator, and an acceleration sensor that detects the acceleration of the structure, and the control unit is configured to generate the displacement command from only the acceleration detected by the acceleration sensor, based on a transfer function from a displacement command that instructs the displacement of the movable mass to the acceleration of the structure.

[0010] However, in the case of the active mass damper of Patent Document 1, it is based on a transfer function from the acceleration of the structure to a displacement command that indicates the displacement of the movable mass, and the characteristics obtained from the actual vibration test include elements that cannot be expressed in mathematical formulas, such as discontinuous elements such as friction and dead time in the device's response. Designing a stable controller requires a great deal of know-how from the designer, making the design highly difficult. Furthermore, the characteristics of a controller designed using this method become a black box, which presents the inconvenience of making it difficult for anyone other than the controller designer to verify its effectiveness.

[0011] Patent Document 2 discloses a vibration control method that designs a virtual TMD device and uses an actuator to simulate the TMD mass reaction force when vibrations occur in the target to be damped, thereby achieving vibration damping effects equivalent to those achieved when a TMD is installed.

[0012] However, in the case of the vibration control method of Patent Document 2, the force that will act on the target of vibration damping is calculated from a hypothetical dynamic vibration absorber, and when the actuator performs ideal control, it is necessary to perform force control using an expensive force sensor or the like, and it is necessary to provide a rigid object that can withstand the reaction force of the actuator in addition to the target of vibration damping. [Prior art documents] [Patent documents]

[0013] [Patent Document 1] Patent No. 6886148 [Patent Document 2] Patent No. 4337393 Summary of the Invention [Problem to be solved by the invention]

[0014] The present invention was developed in consideration of the above-mentioned conventional situation, and provides an AMD device and its control program that allows for the easy design of an active mass damper controller using a TMD dynamic model that is easy to design, and whose effectiveness can be verified as a TMD model that is well known to architectural designers and the like.

[0015] More specifically, conventionally, tuned mass dampers (TMD) and active mass dampers (AMD) are known as devices that are used to control vibrations of structures that are vibrated by some kind of vibration source.

[0016] TMD is easy to design, inexpensive, and stable, and because architectural designers and others are familiar with its characteristics, it is easy to verify its effectiveness in advance. Vibration control The controllable frequency range is narrow, and to solve this it is necessary to increase the mass, which requires a design that is appropriate for the load-bearing capacity of the object to be controlled.

[0017] Compared to TMDs, AMDs are lighter in weight and have a wider controllable frequency range. However, they can sometimes excite the controlled object, and the characteristics of the controller are a black box. Designing a controller that does not excite the controlled object requires advanced expertise, and because the characteristics are a black box, it is difficult for architectural designers to verify the effectiveness in advance.

[0018] Therefore, the current state of affairs in this technical field has been that there has been a demand for the development of lightweight hardware such as that of the present invention and a device that enables vibration suppression control that can be easily designed and its effects verified. [Means for solving the problem]

[0019] The AMD device (active mass damper) of the present invention is configured to include an AMD movable mass that can reciprocate relative to the structure to be damped, a sensor that detects vibrations of the structure, an actuator that drives the AMD movable mass, and a control unit that controls the actuator.The control unit has a virtual model of the TMD that is tuned to control the controlled mode of the structure, and its main configuration is to generate a displacement command for the movable mass of the actual AMD device to the actuator through a simulation using actual measurement data of the structure and the virtual model. [Effects of the Invention]

[0020] In the invention of claim 1, the elements that make up the hardware are the same as those of conventional AMDs, and an AMD device can be realized and provided that does not require the addition of new components such as force sensors when introducing it to an already installed AMD.

[0021] In the invention of claim 2, AMD command values ​​are created by performing a simple multiplication calculation on the operation of a virtual model of a TMD that has been optimally designed, which is easy to design.This simplifies the controller design process compared to conventional AMD controllers, and makes it possible to realize and provide an AMD device that uses a controller that makes it easy to generate command values ​​that take into account the limitations of the hardware.

[0022] According to the invention of claim 2, the operation of the AMD is made to follow the operation of the TMD by multiplying it by the TMD mass / AMD mass ratio, and the vibration control force generated by the AMD is equivalent to that of the TMD, so it is possible to verify its effectiveness using a TMD model that is well known to architectural designers and others.The vibration control effect achieved by installing a large mass mass or multiple TMDs to improve the robustness of the TMD as shown in

[0003] above can be reproduced with a single AMD mass with a small mass, and furthermore, because a virtual model of the TMD, which is known to be stable, is used to generate the command value, it is guaranteed that the command value generation section within the control section is stable.

[0023] In the invention of claim 3, the virtual model of the TMD used to generate the AMD command value uses a dynamic model of the TMD, so it can be automatically generated once the TMD parameters are determined.This makes it possible to realize and provide a control program for the AMD device of claim 1 or 2, which makes it easy to adjust the AMD after installing it in the structure to be damped, and to readjust it if the vibration characteristics of the structure, such as the frequency and damping, change. [Brief explanation of the drawings]

[0024] [Figure 1] FIG. 1 is a schematic block diagram showing the overall configuration of an active mass damper according to an embodiment of the present invention. [Figure 2] FIG. 2 shows details of the controller and AMD device portion and signal attributes in the schematic block diagram of FIG. 1 according to this embodiment, and is a schematic model diagram showing the transfer function of the virtual TMD of the active mass damper, the mass ratio multiplication element, the displacement limiting element, the actual transfer function of the entire AMD including the actuator and controller of the actual AMD, the mass of the actual AMD, disturbance from the structure, noise, etc. as components. [Figure 3] FIG. 3 is a schematic diagram showing the overall configuration of the active mass damper according to this embodiment. [Figure 4] FIG. 4 is a schematic diagram showing the overall configuration of an active mass damper including spring elements and damper elements according to a modified example of this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0025] The AMD device of the present invention achieves the objective of realizing and providing an active mass damper whose control unit can be easily designed using the parameters of an optimally designed virtual TMD.The device is configured to include a movable mass that can reciprocate relative to a structure, a sensor that detects the vibration of the structure, an actuator that drives the AMD movable mass, a control unit that controls the actuator, and a feedback system that uses the vibration movement of the structure as an input to the controller.The control unit calculates the relative displacement of the virtual TMD mass from the actual vibration measurements of the structure and the transfer function of the virtual TMD when it is assumed that a virtual TMD tuned to control the controlled mode of the structure is installed, multiplies this value by the mass ratio of the virtual TMD mass to the movable mass of the actual AMD, and generates a stroke-limited value as a displacement command for the movable mass of the actual AMD actuator.

[0026] An AMD device (active mass damper) according to an embodiment of the present invention will be described in detail below with reference to the drawings.

[0027] As shown in Figure 3, the AMD device (active mass damper) 1 of this embodiment is composed of a movable mass 2 (movable mass 2 of the actual AMD device 10) that can move back and forth relative to a structure M, a sensor 3 that detects the vibration motion of the structure M, an actuator 4 that drives the movable mass 2, a control unit (controller) 5 that controls the actuator 4, and a feedback system that inputs the value of the sensor 3 to the control unit 5.

[0028] The control unit (controller) 5 is configured to calculate the relative displacement of the virtual TMD mass from the measured vibration of the structure M and the transfer function of the virtual TMD when it is assumed that a virtual TMD tuned to control the controlled mode of the structure M is installed, multiply this value by the mass ratio between the virtual TMD mass and the movable mass 2 of the actual AMD device 10, and generate the stroke-limited value as a displacement command to the movable mass 2 of the actual AMD device 10 for the actuator 4.

[0029] Figure 2 shows the transfer function of the virtual TMD, the mass ratio multiplication element, the displacement limiting element, the controller, the actual transfer function of the actuator 4 of the actual AMD 10 including the influence of the mass reaction force, the mass ma of the actual AMD 10, the disturbance d to the structure M, the noise v, etc., and indicates the attributes of the signal that has passed through each element.

[0030] Next, each element shown in FIG. 2 will be described.

[0031] For each element shown in Figure 2, -mt / mt s 2 +ct·s+kt is the frequency transfer characteristic (transfer function) of the virtual TMD (from absolute acceleration of the structure to the relative displacement of the virtual TMD mass).

[0032] where mt is Mass of the virtual TMD mass , ct is the damping coefficient, and kt is the spring constant, which are the optimally designed values ​​for the vibration mode of the building to be damped. control Responds to the frequency components of the target mode.

[0033] In Figure 2, there is one virtual TMD, but if there are multiple modes to control, multiple virtual TMDs can be designed for each mode and added in parallel.

[0034] In each element shown in Figure 2, mt / ma is the mass ratio multiplication element. Here, ma represents the mass of the actual AMD 10. The advantage of the actual AMD 10 is that it can generate a large displacement relative to the TMD, making the mass smaller than that of a TMD. Since the mass (ma) of the actual AMD 10 is smaller than the mass (mt) of the virtual TMD, the displacement multiplied by the mass ratio is used as the target displacement of the actual AMD in order to obtain the same mass inertia force as the virtual TMD.

[0035] In each element shown in Figure 2, -ma is the mass of the AMD actual device 10, and is the reaction force input to the structure when multiplied by the sum of the stroke acceleration of the mass and the absolute acceleration of the structure.

[0036] Here, d represents the disturbance input to the structure M, y represents the acceleration at the AMD installation position, and v represents the noise contained in the acceleration signal.

[0037] For practical use, a stroke limiting function is required to operate within the movable stroke range of the AMD actual machine 10. This is performed by the displacement limiting block in Figure 2. This displacement control function may be implemented either on the control unit 5 side or on the control program side of the AMD actual machine 10.

[0038] According to the AMD device (active mass damper) 1 of the present embodiment described above, the control unit 5 of the AMD device (active mass damper) 1 can be easily obtained by utilizing the parameters of the optimally designed virtual TMD, and an AMD device (active mass damper) 1 equipped with a control unit 5 that is easy for the structural designer of the structure M to consider can be realized.

[0039] In addition, the design is more predictable than other AMD control system design methods, and by adopting multiple TMDs in the virtual TMD mass model, it is possible to design an AMD device (active mass damper) 1 equipped with a control unit 5 that is highly robust against changes in the natural frequency of the object to be damped.

[0040] The AMD device (active mass damper) 1 according to this embodiment is configured to include a sensor 3 that detects vibrations of a structure, an actuator 4 that drives the AMD movable mass, and a control unit 5 that controls the actuator 4. Based on the actual vibration measurements of the structure M, the AMD device instructs the movable mass 2 of the actual AMD device 10 to displace only from the detection signal of the sensor, based on the transfer function of the virtual TMD when it is assumed that a virtual TMD tuned to control the controlled mode is installed in the structure M. command signal A control device for an AMD device (active mass damper) 1 can be configured that includes a control unit 5 that generates the above equation.

[0041] FIG. 4 shows an AMD device (active mass damper) 1A according to a modified example of the embodiment of the present invention. The basic configuration is the same as that of the AMD device (active mass damper) 1 according to the present embodiment, but the AMD device (active mass damper) 1A according to the modified example is characterized in that a spring element 11 and a damper element 12 are added to the configuration of the AMD device (active mass damper) 1 according to the embodiment.

[0042] The AMD device (active mass damper) 1A according to this modified example can also exert the same functions and effects as the AMD device (active mass damper) 1 according to the embodiment. [Industrial Applicability]

[0043] The technical idea of ​​easily designing the control unit of an AMD device (active mass damper) from the parameters of an optimally designed virtual TMD in the AMD device (active mass damper) of this invention can be suitably used in the technical field of devices that suppress vibrations of structures due to earthquake motions and wind forces. [Explanation of symbols]

[0044] 1 AMD device (active mass damper) 1A AMD device (active mass damper) 2 Movable mass (AMD real machine 10 movable mass) 3 sensors 4 Actuators 5. Control unit (controller) 10 AMD actual machine 11 Spring elements 12 Damper element M structure

Claims

1. An AMD device is configured with components including an AMD movable mass that can reciprocate with respect to a structure that is a vibration control target and has one or more control target modes, a sensor that detects vibrational motion of the structure, an actuator that drives the AMD movable mass, and a control unit that controls the actuator, The AMD device is configured to be directly attached to the structure that is the target of vibration control, so that the reaction force of the AMD movable mass is input only to the structure, and the AMD movable mass is directly attached to the structure that is the target of vibration control only via the actuator, without via a spring element or a damper element, so that the reaction force of the AMD movable mass at the actuator is transmitted directly to the structure that is the target of vibration control, The control unit is configured to calculate a virtual TMD mass relative displacement from the vibration measurement value of the structure and a transfer function of the virtual TMD when it is assumed that a virtual TMD tuned to control the controlled mode of the structure is installed, multiply the calculated value by the mass ratio of the virtual TMD mass and the AMD movable mass, and generate a stroke-limited value as a displacement command to the AMD movable mass for the actuator, and The transfer function of the virtual TMD is −mt / (mt·s ２ +ct·s+kt) (where mt is the mass of the virtual TMD mass, ct is the damping coefficient thereof, and kt is the spring constant thereof), which are frequency transfer characteristics of the virtual TMD from the absolute acceleration of the structure to the relative displacement of the virtual TMD mass, and which indicate values ​​designed for the controlled mode of the structure, and which are configured to respond to the frequency components of the controlled mode among the vibration components of the structure, When there are two or more controlled modes in the structure, the AMD device is configured to have transfer functions of multiple virtual TMDs designed in parallel to correspond to each of the controlled modes.

2. a command value generating unit that converts the vibration characteristics of the structure that is the target of vibration damping control and has one or more of the controlled object modes into an AMD operation command value based on the transfer function of the virtual TMD, the mass ratio of the virtual TMD mass to the AMD movable mass, and hardware constraints of the AMD device; That is, the virtual TMD is prepared, and when there are two or more controlled modes in the structure, the configuration is such that transfer functions of the virtual TMD designed corresponding to each of the controlled modes are provided in parallel, and the command value generation unit calculates the relative displacement of the AMD movable mass to be generated in the AMD movable mass from vibration data of the structure obtained by a sensor, and converts it into an AMD operation command value based on hardware constraints of the AMD device, The control program for an AMD device described in claim 1, characterized in that since the transfer function of the virtual TMD is used to generate command values ​​for the AMD device, it is possible to automatically generate the command values ​​once the TMD parameters are determined, and it is possible to adjust the AMD device after installing it in the structure to be damped, or to readjust it if the vibration characteristics of the structure, such as the frequency and damping, change.

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