JP2002068079A - Active anti-rolling device - Google Patents

Abstract

(57) [Problem] To provide an active type rocking device in which a spring element acting on a movable mass can be easily realized. SOLUTION: A movable mass 2 linearly moving on an object 1 to be reduced, a motor 3 for mutually converting a moving energy and an electric energy of the movable mass 2, and a chargeable power supply 4 connected to the motor 3 A sensor 5 for detecting the amount of movement of the object 1, a sensor 6 for detecting the amount of movement of the movable mass 2, and a mechanical spring acting on the movable mass 2 in accordance with the displacement of the movable mass 2. Anti-oscillation control means 7 for obtaining a control target force to be applied from the motor 3 to the movable mass 2 in order to reduce the displacement of the anti-oscillation object 1 under the assumption that a force exists; An electric spring force calculating means 8 for calculating an electric spring force applied to the movable mass 2 from the motor 3 by a motor;
The motor 3 is controlled based on the control target force in consideration of the electric spring force.
And switching control means 9 for switching and controlling the circuit connection between the power supply 4 and the power supply 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active damper for moving a movable mass on an object to reduce the motion of the object, and more particularly to an active damper capable of easily realizing a spring element. It is about.

[0002]

2. Description of the Related Art There is known a device using a movable mass (weight) as a vibration reducing device for reducing the motion of a moving body such as a ship or a structure on water or land. For example, an anti-rolling device for reducing rolling of a hull provided a circular arc-shaped rail having a lower central portion and higher both end portions in a transverse direction of the hull, and used a movable bogie traveling on wheels on this rail. The movable mass moves in the transverse direction of the hull according to the rolling. At this time, the gravity of the movable mass that has moved and the inertial force act in the opposite directions of the swaying force, and the rolling is reduced. However, this configuration alone provides only a passive damping effect. Therefore, a sensor for detecting the magnitude of the rolling is provided, and an actuator for moving the movable mass in accordance with the detected value is provided. By moving the movable mass by the force of the actuator, a force in the direction of canceling the rolling can be positively applied to the hull. An anti-oscillation device that can provide such an active anti-oscillation effect is called an active type anti-oscillation device, and has a dramatically better anti-oscillation effect than a passive anti-oscillation device. In the case of the active type rocking device, a hybrid system that can obtain the above-mentioned passive rocking action in combination is also possible.

[0003] Active anti-oscillation devices require that the actuator only consume energy to move the movable mass.
Not economically efficient. On the other hand, depending on the rolling state and the moving state of the movable mass, there is a state in which the actuator performs work from the movable mass. However, if this work is converted into heat, it cannot be reused. Therefore, it is conceivable to regenerate energy by using an energy converter that can convert the moving energy of the movable mass into energy that can be stored, and using an energy storage unit that stores the energy. The energy converter, for example,
It is a motor, and the energy storage means is, for example, a chargeable power supply. By driving the motor with the charged energy, the energy consumption can be reduced overall.

[0004]

The conventional active type anti-oscillation device is provided with an arc-shaped rail having a lower center portion and a higher end portion, and a movable carriage which travels on the rail by wheels. We use as. By moving the movable mass up and down in a circular arc in this way, a spring element that provides a restoring force (a force to return to the center) to the movable mass in accordance with the displacement in the lateral movement direction is realized. But,
Thus, it is not easy to machine the rail into an arc shape.
Even if it is desired to form the curvature of the arc to a desired size due to the requirement of the spring element, it is difficult to machine the rail.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems and to provide an active type rocking device in which a spring element acting on a movable mass can be easily realized.

[0006]

In order to achieve the above object, the present invention provides a movable mass that moves linearly on an object to be reduced,
A motor for mutually converting the moving energy and electric energy of the movable mass, a rechargeable power supply connected to the motor, a sensor for detecting a swing state amount of the object to be reduced, and a moving state of the movable mass A sensor for detecting an amount and the motor from the motor to reduce the displacement of the object to be reduced under the assumption that there is a mechanical spring force acting on the movable mass in accordance with the displacement of the movable mass. Anti-oscillation control means for obtaining a control target force to be applied to the movable mass, and electric spring force calculation means for calculating an electric spring force applied to the movable mass from the motor in accordance with the displacement of the movable mass,
And a switching control means for switching and controlling the circuit connection between the motor and the power supply based on the control target force in consideration of the electric spring force.

[0007] The moving direction of the movable mass may be a vertical direction.

[0008] A plurality of movable masses may exist on the object to be reduced.

[0009]

An embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

The active anti-rolling device of the present invention shown in FIG. 1 is for reducing the rolling of the hull.
A movable mass 2 mounted on a hull, which is an object 1 to be attenuated, and linearly moves on the hull in the width direction of the hull, and a motor 3 for mutually converting the moving energy and electric energy of the movable mass 2
A chargeable power source 4 such as a capacitor and a battery connected to the motor 3, a sensor 5 for detecting a rolling state amount (displacement angle and angular velocity) of the hull, and a moving state amount (displacement and speed) of the movable mass 2. ) Is applied to the movable mass 2 to reduce the displacement angle of the hull under the assumption that there is a mechanical spring force acting on the movable mass 2 according to the displacement of the movable mass 2. Anti-oscillation control means 7 for obtaining a desired control target force; electric spring force calculating means 8 for calculating an electric spring force applied from the motor 3 to the movable mass 2 according to the displacement of the movable mass 2; The switching control means 9 for switching and controlling the circuit connection between the motor 3 and the power supply 4 based on the controlled target force, so that there is an electric spring element for providing a restoring force to the movable mass 2 in accordance with the displacement of the movable mass 2 Condition In while performing active swinging motion reducing control, and performs regeneration of energy.

The circuit configuration will be described. As shown in FIG. 2, switching control means 9 is provided between the motor 3 and the capacitor 4a. It comprises a motor-side switch 9a that can switch the connection, a current controller 9b that can control the current by voltage, and a capacitor-side switch 9c that can switch the connection between the capacitor 4a and the short circuit 9d. By switching the switches 9a and 9c and controlling the current by the current controller 9b, the path, direction, and magnitude of the current can be switched.

Since the moving state of the movable mass 2 is proportional to the rotating state of the motor 3, the displacement angle and angular velocity of the motor 3 obtained from the rotation sensor 6a are used as the moving state amount. In addition, the sensor 5 for detecting the rolling state amount includes:
Using an angular velocity sensor (not shown) that detects the angular velocity,
The displacement angle is obtained by integration. An angular sensor that detects a displacement angle may be used, and the angular velocity may be obtained by differentiation.

R is an internal resistance of the motor 3 and is an element for attenuating energy.

As shown in FIG. 3, a specific configuration of the movable mass 2 is a straight rail 2b extending in the ship width direction.
Trolley 2 traveling on wheels on this rail 2b
Use a. The movable trolley 2a is provided with a motor 3 and a gear (not shown) connected to a rotating shaft of the motor 3. On the other hand, a linear gear (not shown) that meshes with the gear of the movable carriage 2a is provided along the rail 2b. It should be noted that the motor 3 is
a may be installed on the hull without being mounted on the tower, and the rotating shaft of the motor 3 may be linked to the movable carriage 2a via an appropriate transmission mechanism such as a ball screw.

As described above, the linear rail is used in the present invention, but the restoring force acting when the rail is arc-shaped is covered by the electric spring force.

Here, in general, the equation of motion of an object showing the relationship between the external force F ₀ and the displacement x is as follows: mx ″ + cx ′ + kx = F ₀ (1) The first term is an inertia term, the second term is a damping term, and the third term is a spring term. In a system in which no mechanical spring element exists, the relationship between the external force F and the displacement x is mx ″ + cx ′ = F (2) Therefore, in a system without a mechanical spring element, an external force F such that F = F ₀ −kx (3) is required to obtain a motion equivalent to that of a system with a mechanical spring element. That is, the force F ₀ used in the control system that there is no mechanical spring elements, will be used to control the force F plus -kx a restoring force of the spring element.

As described above, the present invention takes into account an electric spring force equal to the restoring force provided by the arc-shaped rail to the control target force calculated by the active type rocking device when the arc-shaped rail is used. By setting the control target force, it is possible to cause the movable mass on the linear rail to behave as if a restoring force is acting.

Next, the operation principle of the active type rocker using the circuit of FIG. 2 will be described with reference to FIG. 4 and equations.

The variables and constants used are as follows.

R: Internal resistance of the motor 3, which is a constant unique to the motor 3.

Δ: Magnetic flux, which is a constant unique to the motor 3.

E: The voltage applied from the power supply 4 to the motor 3, which is a variable.

Ei: Induction voltage of the motor 3, which is a variable.

I: Current flowing through the motor 3 and a variable.

F: a force that can be taken out of the motor 3
Variable. The direction in which the displacement of the movable mass 2 decreases (see FIG. 1)
The force acting on the arrow f) is positive. This f corresponds to F in the general formula (3), and is obtained by adding −kz to the motor output f ₀ when a mechanical spring element is used.

U ₀ : a force (control target force) to be applied to the movable mass 2 in order to reduce the displacement angle of the object to be reduced under the condition that the mechanical spring element exists, and is a variable. The direction is the same as f.

U: Control target force in consideration of an electric spring element, which is a variable. The direction is the same as f.

Ec: power consumption, a variable.

Z ': Relative speed of the movable mass with respect to the object to be swung (angular speed of the motor 3), which is a variable (z' is indicated by "." On z in the image). The direction of arrow z 'in FIG. 1 is positive.

First, the relationship between the speed of the movable mass and the induced voltage is ei = ψ · z ′ (4).

The relationship between the current flowing through the motor 3 and the motor output f is as follows: f = ψ · i (5)

Here, when both ends of the motor 3 are short-circuited, if the speed of the movable mass 2 is z ', the current i
From the equation (4), i = (・ / r) · z ′ (6)

From the equations (6) and (5), the motor output f
Is as follows: f = (ψ ² / r) · z ′ (7)

From this, it is understood that when both ends of the motor 3 are short-circuited, the motor 3 equivalently functions as a damper having a damping coefficient of ψ ² / r. Therefore, an equivalent damping coefficient Ceq = ψ ² / r is defined.

It is assumed that a variable voltage power supply 4 is connected to the motor 3 and active control is performed by changing the voltage of the power supply 4. The relationship between the voltage e of the power supply 4 and the control target force u is as follows: u = ｛ψ (e + ψ · z ′) / r｝ (8)

Thus, e = u · r / ψ−ψ · z ′ (9)

At this time, the power consumption Ec of the power supply 4
Ec = ie · e = (u / ψ) · e = (1 / Ceq) · u (u−Ceq · z ′) (10)

[0038]

(Equation 1)

## EQU4 ##

Here, u / (Ceq.z ') is called a regenerative variable. If the power consumption Ec that changes according to the regenerative variable is represented in a graph, it becomes a parabola as shown in FIG. Then, 0 <regeneration variable u / (Ceq · z
It can be seen that the power consumption Ec becomes negative when ') ≦ 1. If the power consumption Ec becomes negative, it means that energy is being regenerated. That is, the condition under which the active regeneration control and the energy regeneration can be performed at the same time is as shown in Expression (12).

0 <u / (Ceq · z ′) ≦ 1 (12) According to the value of the equivalent damping coefficient Ceq, the regenerative variable is given by the formula (1)
It can be seen that the range that satisfies 2), that is, the range in which energy regeneration is possible, changes, and the range in which energy regeneration is possible increases as the equivalent damping coefficient Ceq increases.

As described above, the active vibration reducer of the present invention regenerates energy when the regenerative variable having the moving speed z 'as the denominator and the control target force u as the numerator is in the range of 0 to 1. The stored energy can then be released and used for damping. The regenerative variable is smaller than 0 when the control target force u and the moving speed z ′ have different signs. For example, when the movable mass 2 is moving to the left, a force is applied to the left. That is, this corresponds to accelerating the movable mass 2 in the direction of the speed, and energy cannot be regenerated. When the control target force u and the moving speed z 'have the same sign, the case where the regenerative variable is greater than 1 corresponds to the case where the control target force u is larger than the moving speed z' times the equivalent damping coefficient, and regenerates energy. Can not do. The case where the regenerative variable is in the range of 0 to 1 corresponds to the case where the control target force u is smaller than the equivalent damping coefficient times the moving speed z ', and energy can be regenerated only at this time.

Next, the detailed operation of the active type rocker according to the present invention will be described with reference to FIGS. FIG. 5 is a control block diagram corresponding to FIG. FIG. 6 shows the control contents of the circuit of FIG. The variables and constants used are as follows.

U ₀ : a force (control target force) to be applied to the movable mass 2 in order to reduce the displacement of the object to be reduced under the condition where the mechanical spring element exists, and is a variable obtained by calculation. The direction is the same as f.

U: a control target force in consideration of an electric spring element, which is a variable obtained by calculation. The direction is the same as f.

F: The force taken out of the motor 3 = the force acting on the movable mass 2, which is a variable obtained by calculation and actually output.

Z, z ': The moving state quantities (displacement, speed) of the movable mass 2 and the variables detected by the sensor (z'
Is represented by z on z in the image).

Θ, θ ′: the rolling state quantities (displacement angle, angular velocity) of the hull, and variables detected by the sensor (θ
'Is represented by a symbol on θ in the image).

Ceq: defined by ψ ² / r, an equivalent damping coefficient when both ends of the motor 3 are short-circuited, and a constant inherent to the motor.

In FIG. 5, the anti-oscillation control means 7 obtains a control target force u ₀ based on the displacement z, the velocity z ′, the displacement angle θ, and the angular velocity θ ′. The active anti-rolling device of the present invention has no mechanical spring element and uses an electric spring element. The electric spring force is calculated by the electric spring force calculating means 8 into the linear displacement z of the movable mass 2 and the spring constant k of the mechanical spring element.
Is obtained by multiplying by a gain corresponding to When the final control target force u is obtained from the electric spring force and the control target force u ₀ , u = u ₀ −kz (13)

The switching control means 9 divides the control target force u by the speed z 'and the equivalent damping coefficient Ceq to obtain a regeneration variable u
/(Ceq.z ') is determined, and the following three modes are determined based on the value of the regenerative variable.

1) 0 <u / (Ceq · z ′) ≦ 1 2) 1 <u / (Ceq · z ′) 3) u / (Ceq · z ′) ≦ 0 Also, the opening of the current controller 9b And the current i flowing through the motor 3
Is obtained by calculation separately for the six cases (a) to (f).

The mode 1) is a mode in which the control target force u required for the rocking control is smaller than the damping force f when the motor 3 is short-circuited and functions as a damper. In this mode, it is possible to follow the control target force u by lowering the damping force without adding energy. That is,
As shown in FIG. 6A, the current i is rectified by the motor-side switch 9a, the capacitor 4a is connected by the capacitor-side switch 9c, and the current charged in the capacitor 4a by the voltage of the current controller 9b. To control the amount of Thereby, the force f taken out of the motor 3 can follow the control target force u. The state of FIG. 6A corresponds to the case of FIG.

However, when the opening of the current controller 9b is set to 100%
In any case, the force f taken out of the motor 3 is set to the control target force u
6B, the capacitor 4a is removed from the circuit by the capacitor-side changeover switch 9c, and the current controller 9b and the motor 3 are secured, as shown in FIG. And constitute a closed circuit. Thus, the output f of the motor 3 is controlled by the opening of the current controller 9b. The state of FIG. 6B corresponds to the case of FIG. 5B.

The mode 2) is a mode in which the control target force u required for the rocking control is larger than the damping force f when the motor 3 is short-circuited and functions as a damper. In this mode, energy is released from the capacitor 4a, and this energy is given to the motor 3 to increase the damping force. That is, as shown in FIG. 6C, the motor side switch 9
The direction of the current is switched by a. The state of FIG. 6C corresponds to the case of FIG. 5C.

However, when the voltage of the capacitor 4a is too low and the reverse polarity charging is likely to occur, as shown in FIG. 6D, the capacitor 4a is removed from the circuit, and the passive state due to the short circuit of the motor 3 is obtained. To obtain an effective damping force. This figure 6
The state of (d) corresponds to the case of (d) in FIG.

The mode 3) is a mode in which the control target force u required for the rocking control is in the opposite direction to the damping force f when the motor 3 is short-circuited and functions as a damper. In this mode, a negative damping force f is required. Therefore, as shown in FIG. 6E, the capacitor 4a is connected in a direction to cancel the induced voltage by the motor-side switch 9a, and the energy is released from the capacitor 4a. This energy is given to the motor 3 to accelerate the movable mass 2. This figure 6
The state of (e) corresponds to the case of (e) in FIG.

However, when the absolute value of the induced voltage is higher than the capacitor voltage, as shown in FIG.
The opening degree of the current controller 9b is 0%, that is, both ends of the motor 3 are insulated, and the active anti-oscillation control is not performed. The state of FIG. 6F corresponds to the case of FIG.

In the above description, FIG.
It is when 0. When z ′ <0, the connection direction of the motor 3 may be reversed.

In this way, the contents of control when the circuit of FIG. 2 is employed are as shown in FIGS. 6 (a) to 6 (f).

The active anti-rolling device of the present invention is evaluated by numerical calculation.

First, rolling was applied to the object 1 to be reduced without operating the device, and the displacement angle was measured. The result was as shown in FIG. Here, the horizontal axis represents time, and the vertical axis represents rolling displacement angle. Next, when an anti-rolling device that realizes a mechanical spring element by an arc-shaped rail is operated in an environment in which rolling occurs as shown in FIG. 7A, the rolling is as shown in FIG. 7B. Was. Further, under the same environment, when the vibration reducing device of the present invention having the electric spring element was operated, the rolling was as shown in FIG. 7C. Comparing these results, the anti-oscillation device of the present invention
It can be seen that a damping effect equivalent to that using a mechanical spring element is obtained.

The displacement of the movable mass 2 was measured in parallel with the above measurement. In the rocking device using a mechanical spring element, the displacement of the movable mass 2 was as shown in FIG. Here, the horizontal axis is time, and the vertical axis is displacement. On the other hand, in the rocking device of the present invention having an electric spring element, the displacement of the movable mass 2 is as shown in FIG. Comparing these results, the displacement of the movable mass 2 is almost the same in both cases. That is,
It can be understood that the behavior of the movable mass 2 can be made the same by using the linear rail if the electric spring force is corrected for the control target force obtained by using the arc-shaped rail.

Further, the amount of charge to the power supply 4 was examined in parallel with the above measurement. Specifically, a capacitor was considered as the power supply 4, and the voltage of the capacitor was determined. In the rocking device using a mechanical spring element, the capacitor voltage is as shown in FIG.
It became like. Here, the horizontal axis is time, and the vertical axis is voltage. On the other hand, in the rocking device according to the present invention having an electric spring element, the capacitor voltage was as shown in FIG. 9B. Comparing these results, the timing at which the capacitor repeats charging and discharging is the same in both cases. That is, the operation of the switching control means 9 is equivalent. The average height of the capacitor voltage is higher in FIG. This indicates that the amount of charge is low because the swinging device of the present invention takes out the electric spring force.

From the above calculation results, it was proved that the active type anti-oscillation device of the present invention has a sufficient anti-oscillation ability and also has an energy regeneration ability.

Next, another embodiment of the present invention will be described.
Although the movable mass 2 described above moves in a substantially horizontal direction on the hull, the moving direction of the movable mass 2 is not limited to the horizontal direction in the present invention that electrically implements a spring element.

The active type rocking device shown in FIG. 10 is obtained by tilting the rail on which the movable mass 2 moves. Assuming that the inclination angle is α, the force of mg sin α always acts on the movable mass 2 as the gravity component W regardless of the displacement z along the inclination (m is the mass of the movable mass 2 and g is the gravitational acceleration).
In this case, the final control target force u becomes u = u ₀ -mgsinα-kz (14).

The active type rocking device shown in FIG. 11 is one in which the rail on which the movable mass 2 moves is set up vertically. A force of mg as the gravity component W always acts on the movable mass 2. In this case, the final control target force u becomes u = u ₀ -mg-kz (15).

[0069] In the case of FIG. 10 by correcting the gravity component W to be u ₀ Output 5 the case of FIG. 11, it is possible to perform swinging motion reducing control.

The active type rocking device shown in FIG. 12 has two movable masses 2 which move vertically. As shown in the figure, two movable masses 2 and a motor 3 are provided at symmetrical positions, and the moving energy and the electric energy of the movable mass 2 are mutually converted. Thus, the dynamic balance is improved by symmetrically arranging the plurality of movable masses 2.

[0071]

The present invention exhibits the following excellent effects.

(1) Since a mechanical spring element such as an arcuate rail is not used, the active type rocking device has a simplified mechanical structure and reduced cost.

(2) Since the calculation of the electric spring force is incorporated in the calculation of the motor control, a spring element having a desired spring constant can be easily realized using the motor.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an active type rocker according to an embodiment of the present invention.

FIG. 2 is a circuit configuration diagram of the active type rocker of FIG. 1;

FIG. 3 is a configuration diagram of a movable mass used in the present invention.

FIG. 4 is a diagram showing regenerative variables versus power consumption characteristics according to the present invention.

FIG. 5 is a control block diagram corresponding to FIG. 1;

FIG. 6 is a state diagram showing control contents of the circuit of FIG. 2;

FIG. 7 is a time waveform diagram of a rolling displacement angle. (A)
FIG. 7B is a diagram when the anti-oscillation device is not operated, FIG. 9B is a diagram when the conventional anti-oscillation device is operated, and FIG. 9C is a diagram when the anti-oscillation device of the present invention is operated.

FIG. 8 is a time waveform diagram of the displacement of the movable mass. (A) is a diagram when the conventional vibration reducing device is operated, and (b) is a diagram when the vibration reducing device of the present invention is operated.

FIG. 9 is a time waveform diagram of a capacitor voltage. (A) is a diagram when the conventional vibration reducing device is operated, and (b) is a diagram when the vibration reducing device of the present invention is operated.

FIG. 10 is a configuration diagram of a movable mass showing another embodiment of the present invention.

FIG. 11 is a configuration diagram of a movable mass showing another embodiment of the present invention.

FIG. 12 is a configuration diagram of a movable mass showing another embodiment of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 object to be reduced (hull) 2 movable mass 3 motor 4 power supply 5 sensor (for moving state amount) 6 sensor (for moving state amount) 7 reduction control means 8 electric spring force calculating means 9 switching control means

 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Koji Yata 1st Shin-Nakahara-cho, Isogo-ku, Yokohama-shi, Kanagawa Ishikawashima-Harima Heavy Industries Co., Ltd. Machinery & Plant Development Center (72) Inventor Masanori Imaseki Koto-ku, Tokyo 3-1-1 Toyosu Ishikawajima Harima Heavy Industries, Ltd. Tokyo Engineering Center (72) Inventor Shingo Yamada 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Tokyo Engineering Center (72) Inventor Yoshihiro Suda 2-33-4 Denon Chofu, Ota-ku, Tokyo (72) Inventor Kimihiko Nakano 2-161-1, Tokiwadai, Ube City, Yamaguchi Prefecture

Claims (3)

[Claims] 1. A movable mass that moves linearly on an object to be reduced, a motor that mutually converts the moving energy and electric energy of the movable mass, a chargeable power supply connected to the motor, and the reduction A sensor for detecting the amount of movement of the object, a sensor for detecting the amount of movement of the movable mass,
A control to be applied from the motor to the movable mass in order to reduce the displacement of the object to be reduced under the assumption that there is a mechanical spring force acting on the movable mass in accordance with the displacement of the movable mass. Anti-oscillation control means for obtaining a target force, electric spring force calculating means for calculating an electric spring force applied from the motor to the movable mass according to the displacement of the movable mass, and a control target force in consideration of the electric spring force Switching control means for switching and controlling the circuit connection between the motor and the power supply based on the control signal. 2. The active anti-oscillation device according to claim 1, wherein the moving direction of the movable mass is a vertical direction. 3. The active anti-oscillation device according to claim 1, wherein a plurality of the movable masses exist on the object to be anti-oscillation.