JPH1182614A - Vibration damping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the phase of a weight adjusted to an ideal state, even if the natural preriod of a structure is changed and make a gravity component unnecessary to be considered as the control force of the weight, even if the structure is slanted. SOLUTION: A rail 6 is supported swingably in a seesaw shape by a fluid pressure cylinder 10 on a structure 1. A weight 9 is placed movably by a servo- motor 20 on the rail 6. This device is provided with a phase control device 21 for sending the drive command to the servo-motor 20 based on the signal of a swing detection sensor 3 and an attitude control device 22 for sending the drive command to the fluid pressure cylinder 10 based on a signal of a slant detection sensor 25.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration damper which is mounted on a ship such as a pleasure boat or a recreational fishing boat, or a suspended structure such as a gondola or a lift, and used for suppressing the swing of these structures. It concerns the device.

[0002]

2. Description of the Related Art As a vibration damping device installed on a structure such as a building or a tower of a suspension bridge and used to suppress the shaking of these structures, there is a vibration damping device as shown in FIGS. JP-A-3-48036).

[0003] In the above-mentioned vibration damping device, a gantry 4 having a required height is installed on the top of the structure 1 at a required interval and opposed to each other.
A rail base 7 provided with a rail 6 along the longitudinal direction on the upper surface is disposed between the upper ends of the gantry 4, and the center of the rail base 7 is mounted on the upper end of the gantry 4 and the support shaft 5 disposed horizontally. The rail 6 on the rail base 7 is supported by the support shaft 5
Can be swung up and down like a seesaw with the fulcrum as a fulcrum, and a weight 9 is placed on the rail 6 of the rail base 7.
Is movably mounted via wheels 8 so that the weight 9 can move on the rails 6 via the wheels 8 by the swinging of the rails 6 via the rail bases 7. It is composed.

At one end of the rail base 7, a fluid pressure cylinder 10 is provided as a swing actuator for swinging the rail 6 like a seesaw by expansion and contraction operation.
The hydraulic cylinder 10 is driven to swing the rail 6 around the support shaft 5 of the rail base 7, thereby moving the weight 9 along the rail 6 in the longitudinal direction of the rail base 7. I have to be able to.

Further, based on a signal from the vibration detecting sensor 3 for detecting the vibration of the structure and a signal from the vibration detecting sensor 3 transmitted through the amplifier 11, a delay of 90 ° with respect to the vibration of the structure 1 is obtained. A controller 12 for sending a drive command to the fluid pressure cylinder 10, and by arbitrarily controlling the position of the reciprocating movement of the weight 9 with respect to the swing of the structure 1 by the driving force of the fluid pressure cylinder 10, The sway is suppressed to the allowable sway range and the sway energy of the structure 1 is consumed.

[0006]

However, in the case of the above-mentioned vibration damping device, since the vibration damping device main body 2 is a seesaw type utilizing gravity, the energy for accelerating the weight 9 is small, and the fluid as a swing actuator is used. Although the power required to drive the pressure cylinder 10 is small, the weight 9 is a passive type in which the weight 9 is not self-propelled. As a result, the vibration damping effect may be reduced. When the structure 1 is tilted, for example, when the hull is rolled in a state where the hull is largely tilted due to strong wind or the like when used on a ship, the tilt angle is used as a control force for controlling the weight 9. Extra vertical component is required, and a large control force is required.

Therefore, the present invention can control the phase of the weight to an ideal state even when the natural period of the structure fluctuates, and can control the weight even when the structure is inclined. It is intended to eliminate the need to consider the gravitational component of the weight in consideration of the inclination as the (force that changes positively and negatively).

[0008]

According to the present invention, in order to solve the above problems, a rail is supported on a structure so as to swing like a seesaw by a swing actuator, and a weight is mounted on the rail. A phase control device that is mounted so as to be movable in the longitudinal direction by a moving actuator, and that sends a control command to the moving actuator based on a signal of a shaking detection sensor that detects shaking of the structure, and a structure. And a posture control device that sends a control command to the swing actuator based on a signal from a tilt detection sensor that detects the tilt of the actuator.

When the sway of the structure is detected by the sway detection sensor, the signal is phase-controlled by the phase control device and then output to the moving actuator, so that the weight is ideal for the sway of the structure. By being repeatedly moved with a proper phase, a damping effect can be obtained. At this time, if the structure has an inclination, the inclination angle is detected by the inclination detection sensor, and a command is sent to the swing actuator to correct the inclination angle of the structure by the attitude control device. Kept in state.

In addition, since the rail is formed in an arc shape or a V-shape in which the center of curvature is positioned upward, a control force can be easily applied to the weight, so that the driving force of the moving actuator can be increased. Can be made smaller.

[0011] Furthermore, by setting a permissible value of the tilt angle in the attitude control device and sending a control command to the swing actuator when the permissible value is exceeded, the tilt angle of the structure is allowed. Only when the value exceeds the value, rail attitude control is performed.

[0012]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1A and 1B show an embodiment of the present invention. As shown in FIGS. 7A and 7B, a rail 6 is provided on the upper surface of the structure 1. The rail base 7 is supported so as to swing in a seesaw shape by a fluid pressure cylinder 10 as a swing actuator, and a weight 9 is mounted on the rail 6 via wheels 8 so as to be movable in the longitudinal direction. In the configuration, the rack 13 is provided along the longitudinal direction at a position between the rails 6 on the rail base 7,
The pinion 14 meshed with the rack 13 is rotatably supported on the lower surface of the weight 9, and the pinion 14
A power transmission gear 15 meshed with the pinion 14,
The weight 9 is passed through a power transmission mechanism 19 including a sprocket 16 coaxial with the gear 15 and a sprocket 18 interlocked with the sprocket 16 and an endless chain 17.
The pinion 14 is connected to a servomotor 20 as a moving actuator installed above, and the pinion 14 is rotated by a drive of the servomotor 20 via a power transmission mechanism 19 so that the weight 9
Can be moved in a required cycle, and the phase control device 21 of the weight 9 and the attitude control device 2 of the rail 6
2 is provided.

The phase control device 21 calculates a signal transmitted from the vibration detecting sensor 3 via the amplifier 23 and a vibration detecting sensor 3 for detecting the vibration of the structure 1, and calculates 90 And a phase controller 24 that outputs a delay phase and displacement signal of the degree to the servomotor 20.

The attitude control device 22 includes a tilt detection sensor 25 for detecting the tilt angle of the structure 1, and a hydraulic cylinder based on the tilt angle signal sent from the tilt detection sensor 25 via the amplifier 26. And a posture controller 27 which sends a control command to the rail 10 to control the reference posture of the rail 6 horizontally via the rail base 7.

If a sway occurs in a state where the structure 1 is not tilted, the sway is detected by a sway detection sensor 3 and a sway signal is sent to a phase controller 24 to be operated, whereby the phase control is performed. The servo motor 20 is driven in the forward and reverse directions by the command from the unit 24, so that the pinion 14 is rolled on the rack 13 via the power transmission mechanism 19, and as a result, the weight 9
Is reciprocated on the rail 6 with a delay of 90 ° with respect to the swing of the structure 1.

In this case, the movement of the weight 9 is also given by the swing of the structure 1, so that the weight 9 has a required amplitude.
Is accelerated, the driving force of the servomotor 20 may be applied as a control force. Therefore, only by operating the weight 9 with the servomotor 20 as the control force, a vibration damping effect can be obtained and the structure 1 Even if the period changes, the phase can be freely controlled by driving the servo motor 20, so that it is possible to respond quickly.

On the other hand, when the structure 1 is a ship or the like, for example, a situation occurs in which the hull rolls in a state of being largely inclined in the roll direction due to strong wind or the like. The inclination angle of the hull is detected by the sensor 25, and a control command is sent from the attitude controller 27 to the hydraulic cylinder 10 based on this signal. In this case, as a signal sent from the attitude controller 27 to the hydraulic cylinder 10, a drive signal in a direction for correcting the inclination of the hull is sent, so that even if the hull is tilted, the rail 6 Will always stay horizontal, so
Since the gravity component does not act on the weight 9, only the control force necessary to suppress the rolling of the hull need be applied.

In the above, if the attitude control of the rail 6 is not performed by the attitude control device 22, the control force of the servomotor 20 becomes the pure control force for controlling the swing of the structure 1 and the control force for controlling the gravity component. Must be taken into account. That is, if the net control force is F1 and the control force for controlling the gravity component of the weight 9 is F2, the total control force F
0 results in F0 = F1 ± F2. When the direction of F2 is different from F1, F0 is small, but when the direction of F2 is the same as F1, F0 is conversely large. Therefore, in the present invention, since only F1 needs to be provided, the servomotor 20 may be small.

FIGS. 2A and 2B show another embodiment of the present invention. In a configuration similar to that shown in FIGS. 1A and 1B, the weight 9 is connected to a pinion. Instead of moving by the rack method, it is moved by the ball screw and nut method. That is, the ball screw 28 is arranged in parallel between the rails 6 on the rail base 7, and both ends are rotatably supported by the bearing 30, and one end of the ball screw 28 is connected to the one end of the ball screw 28 via the coupling 31. A ball screw nut 2 having a servo motor 20 connected thereto and screwed to the ball screw 28
9 is fixed to the bottom surface of the weight 9.

2 (a) and 2 (b), the same operation and effect as those shown in FIGS. 1 (a) and 1 (b) can be obtained. There is an advantage that the layout of the power supply cable is simplified because the power supply cable is not installed on the power supply cable.

FIG. 3 shows still another embodiment of the present invention. In a configuration similar to that shown in FIG. 1 (or FIG. 2), a spring mounting bracket 3 is attached to one end of a rail base 7.
2, a spring 33 having a cycle matching the natural cycle of the structure 1 is interposed between the bracket 32 and one end face of the weight 9 in the moving direction.

With the structure shown in FIG. 3, the control force of the servomotor 20 can be reduced by the action of the spring 33 which coincides with the natural period of the structure 1, so that the size of the servomotor 20 can be further reduced. Can be.

Next, FIG. 4 shows still another embodiment of the present invention. In the same configuration as shown in FIGS. 1A and 1B, the upper surfaces of the rail 6 and the rail base 7 are arranged at the center of curvature. Are formed in an arc shape so that they are located above.

In the case shown in FIG. 4, since the rail 6 has an arc shape, it is possible to form a spring system by a restoring force using gravity without using a mechanical spring. Since the movement is a single-string vibration (pendulum movement), it is easier to apply a control force to the weight 9 as compared to a linear rail, and therefore,
The control force of the servomotor 20 can be further reduced. In addition, as shown in FIG. 5, only the rail 6 may be curved in an arc shape.

FIG. 6 shows still another embodiment of the present invention. In a configuration similar to that shown in FIG.
And the upper surface of the rail base 7 is bent in a V-shape instead of being formed in an arc shape.

Although the same effects as those shown in FIG. 4 can be obtained with the arrangement shown in FIG. 6, it is particularly advantageous when applied to the case where the movement amount (amplitude) of the weight 9 may be small. Becomes

The present invention is not limited to the above embodiment. For example, an allowable value of the inclination angle is set in the attitude controller 27 of the attitude control device 22, and The control of the attitude of the rail 6 may be performed only when the inclination exceeds the allowable value, the rail 6 may also serve as the rail base 7, and other departures from the gist of the present invention. Of course, various changes can be made within a range not to be performed.

[0029]

As described above, according to the vibration damping device of the present invention, the following excellent effects are exhibited. (1) On a structure, a rail is supported so as to swing in a seesaw shape by a swing actuator, and on the rail,
A phase control device in which the weight is placed movably in the longitudinal direction by the movement actuator, and a control command is sent to the movement actuator based on a signal of a shake detection sensor that detects the shake of the structure; Since it has a configuration including a posture control device that sends a control command to the swing actuator based on a signal of a tilt detection sensor that detects the tilt of the structure, even if the natural period of the structure fluctuates, By controlling the driving of the moving actuator by the phase control device, the vibration control effect is not reduced, and even if the structure has an inclination, the rail is controlled by controlling the swing actuator by the attitude control device. Can always be kept horizontal, so that only a small control force needs to be applied to the weight, and the size of the moving actuator can be reduced. (2) Even if a failure occurs in the swinging actuator, the weight can be moved by the moving actuator, so that the operation is not immediately disabled and high reliability is obtained. (3) Since the rail is formed in an arc shape or a V-shape in which the center of curvature is positioned upward, it becomes easy to apply a control force to the weight, so that the driving force of the moving actuator can be increased. Can be smaller. (4) By setting a permissible value for the tilt angle in the attitude control device and sending a control command to the swing actuator when the permissible value is exceeded, the tilt angle of the structure can be adjusted to the permissible value. Only when it exceeds, the attitude control of the rail can be performed.

[Brief description of the drawings]

FIG. 1 shows an embodiment of a vibration damping device according to the present invention, wherein (A) is a front view and (B) is a side view.

FIG. 2 shows another embodiment of the present invention.
Is a front view, and (b) is a side view.

FIG. 3 is a front view showing still another embodiment of the present invention.

FIG. 4 is a front view showing still another embodiment of the present invention.

FIG. 5 is a modified example of FIG. 4;

FIG. 6 is a front view showing still another embodiment of the present invention.

7A and 7B show an example of a vibration damping device, wherein FIG. 7A is a front view and FIG. 7B is a side view.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Structure 3 Sway detection sensor 6 Rail 10 Fluid pressure cylinder (swing actuator) 20 Servo motor (movement actuator) 21 Phase control device 22 Attitude control device 25 Inclination detection sensor

Claims (3)

[Claims] 1. A rail is supported on a structure so as to swing in a seesaw shape by a swing actuator, and a weight is placed on the rail so as to be movable in a longitudinal direction by a movement actuator, and A phase control device that sends a control command to the moving actuator based on a signal from a swing detection sensor that detects a swing of the structure; and a phase control device that sends a control command to the movement actuator based on a signal from a tilt detection sensor that detects the tilt of the structure. A vibration control device having a configuration including a posture control device configured to send a control command to an actuator. 2. The vibration damping device according to claim 1, wherein the rail is formed in an arc shape or a V-shape in which the center of curvature is positioned upward. 3. The vibration damping device according to claim 1, wherein an allowable value of the tilt angle is set in the attitude control device, and a control command is sent to the swing actuator when the allowable value is exceeded.