JPH0359446B2 - - Google Patents
Info
- Publication number
- JPH0359446B2 JPH0359446B2 JP6402683A JP6402683A JPH0359446B2 JP H0359446 B2 JPH0359446 B2 JP H0359446B2 JP 6402683 A JP6402683 A JP 6402683A JP 6402683 A JP6402683 A JP 6402683A JP H0359446 B2 JPH0359446 B2 JP H0359446B2
- Authority
- JP
- Japan
- Prior art keywords
- vibrating body
- additional mass
- actuator
- rotation angle
- vibration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000013016 damping Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F7/00—Vibration-dampers; Shock-absorbers
- F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
- F16F7/1022—Vibration-dampers; Shock-absorbers using inertia effect the linear oscillation movement being converted into a rotational movement of the inertia member, e.g. using a pivoted mass
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
Description
【発明の詳細な説明】
この発明は、振動体に生ずるねじれ振動を、振
動体に設けた付加質量の運動によつて制御する振
動制御装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a vibration control device that controls torsional vibration occurring in a vibrating body by the movement of an additional mass provided on the vibrating body.
一般に、タワー、建物等構造物に、風等の外力
がモーメントの形で加わつた場合には、例えば第
１図に示すねじれ振動イが発生し、構造物の破壊
等を引き起こす可能性がある。 Generally, when an external force such as wind is applied in the form of a moment to a structure such as a tower or a building, torsional vibration A as shown in FIG. 1 occurs, for example, which may cause destruction of the structure.
従来、第１図に示すとおり構造物である振動体
１にロープ２等で張力Ａを加える制振方法が考え
られているが、ロープ２の伸びがあり大きな制振
効果は期待できなかつた。 Conventionally, a vibration damping method has been considered in which a tension force A is applied to a vibrating body 1, which is a structure, using a rope 2 or the like as shown in FIG. 1, but a large damping effect could not be expected due to the elongation of the rope 2.
この発明は、振動体のねじれ振動方向に回転す
る質量を付加し、振動体のねじれ振動に応じて付
加質量に制御トルクを発生するアクチユエータを
備え、振動体の振動エネルギを付加質量で吸収さ
せることにより振動体の振動を低減する振動制御
装置を提供するものである。 This invention adds a mass that rotates in the direction of torsional vibration of a vibrating body, and includes an actuator that generates a control torque on the added mass in response to the torsional vibration of the vibrating body, so that the vibration energy of the vibrating body is absorbed by the added mass. The present invention provides a vibration control device that reduces vibrations of a vibrating body.
以下図面に従つて、この発明の一実施例を説明
する。第２図は、この発明の振動制御装置を示す
図であり、１は、建物等、外力によりねじれ振動
している振動体、３は振動体１に固定されたアク
チユエータで、回転コア４と固定コア５からな
り、回転コア４の先端に付加質量８が固定されて
いる。又回転コア４には、アクチユエータ３の回
転速度を検出する回転速度計６と回転角度を検出
する回転角度計７が連結されている。 An embodiment of the present invention will be described below with reference to the drawings. FIG. 2 is a diagram showing the vibration control device of the present invention, in which 1 is a vibrating body such as a building that vibrates torsionally due to external force, 3 is an actuator fixed to the vibrating body 1, and is fixed to a rotating core 4. It consists of a core 5, and an additional mass 8 is fixed to the tip of the rotating core 4. Further, a rotation speed meter 6 for detecting the rotation speed of the actuator 3 and a rotation angle meter 7 for detecting the rotation angle are connected to the rotating core 4.
９は、付加質量８の回転速度と回転角度信号を
受けて増幅しアクチユエータ３に指令を出す制御
器である。 Reference numeral 9 denotes a controller that receives and amplifies the rotation speed and rotation angle signals of the additional mass 8 and issues a command to the actuator 3.
第３図は、制御器９の構成例を示したもので、
９ａは回転速度信号を増幅する回転速度増幅器、
９ｂは回転角度信号を増幅する回転角度増幅器、
９ｃは回転速度信号と回転角度信号を加算する加
算器、９ｄはアクチユエータを駆動する電力増幅
器である。 FIG. 3 shows an example of the configuration of the controller 9.
9a is a rotational speed amplifier that amplifies the rotational speed signal;
9b is a rotation angle amplifier that amplifies the rotation angle signal;
9c is an adder that adds the rotation speed signal and the rotation angle signal, and 9d is a power amplifier that drives the actuator.
以上のような構成からなるこの発明の振動制御
装置は、振動体１に外力が加わり、ねじれ振動を
起こすと、振動体１のねじれ回転中心付近に設置
された付加質量８が振動体１のねじれ振動方向イ
に回転する。付加質量８の回転運動は、回転速度
計６で振動体１と付加質量８の相対回転速度とし
て検出され、又、回転角度計７で、振動体１と付
加質量８の相対角度として検出され、それぞれ制
御器９に送られ、加算されてアクチユエータ３に
送られる。 In the vibration control device of the present invention having the above configuration, when an external force is applied to the vibrating body 1 to cause torsional vibration, the additional mass 8 installed near the center of torsional rotation of the vibrating body 1 suppresses the torsional vibration of the vibrating body 1. Rotates in vibration direction A. The rotational motion of the additional mass 8 is detected by the tachometer 6 as a relative rotation speed between the vibrating body 1 and the additional mass 8, and by the rotation angle meter 7 as a relative angle between the vibrating body 1 and the additional mass 8, They are each sent to the controller 9, added up, and sent to the actuator 3.
アクチユエータ３は、上記相対回転速度、相対
回転角度に比例した制御トルクを発生することに
なる。 The actuator 3 generates a control torque proportional to the relative rotation speed and relative rotation angle.
上記相対回転速度に比例した制御トルクＴは、
振動体１のねじれ振動を低減する減衰トルクとし
て作用し、相対回転角度に比例した制御トルクは
付加質量８を元の回転角に戻す復元力、すなわち
等価バネとして作用している。 The control torque T proportional to the above relative rotational speed is
The control torque acts as a damping torque to reduce torsional vibration of the vibrating body 1, and the control torque proportional to the relative rotation angle acts as a restoring force to return the additional mass 8 to the original rotation angle, that is, as an equivalent spring.
このときの運動方程式は次のようになる。 The equation of motion in this case is as follows.
J1θ¨1＋k1θ1＝Me−Mc (1)
J2θ¨2＝Mc (2)
Mc＝Cn（θ〓−θ〓2）＋k2（θ1−θ2） (3)
ここに、θ1は振動体１のねじれ角度、θ2は付加
質量８の回転角度、J1，k1はそれぞれ振動体１の
イトーシヤ、ねじれバネ定数、J2，k2はそれぞれ
付加質量８のイナーシヤ、振動体１と付加質量８
の間に設けられたねじれバネ定数、に相当するゲ
イン定数Cnは減衰定数に相当するゲイン定数、
Meは振動体１にモーメントの形で与えられる外
力、Mcは制御トルクである。 J 1 θ¨ 1 +k 1 θ 1 = M e −M c (1) J 2 θ¨ 2 = M c (2) M c = C n (θ〓−θ〓 2 ) + k 2 (θ 1 −θ 2 ) (3) Here, θ 1 is the torsion angle of the vibrating body 1, θ 2 is the rotation angle of the additional mass 8, J 1 and k 1 are the torsion and torsion spring constants of the vibrating body 1, respectively, and J 2 and k 2 are the torsion spring constants of the vibrating body 1, respectively. Inertia of additional mass 8, vibrating body 1 and additional mass 8 respectively
The gain constant C n corresponds to the torsion spring constant provided between C n is the gain constant corresponding to the damping constant,
M e is an external force applied to the vibrating body 1 in the form of a moment, and M c is a control torque.
以上、この発明によれば、振動体１と付加質量
８との相対回転速度（θ〓−θ〓2）に比例した制御ト
ルクをアクチユエータ３で発生させ、付加質量８
を振動体１のねじれ振動を止める方向に回転させ
ることにより、振動体１のねじれ振動を低減する
振動制御装置が提供できる。 As described above, according to the present invention, the actuator 3 generates a control torque proportional to the relative rotation speed (θ〓−θ〓 2 ) between the vibrating body 1 and the additional mass 8, and the additional mass 8
By rotating the torsional vibration of the vibrating body 1 in a direction that stops the torsional vibration of the vibrating body 1, a vibration control device that reduces the torsional vibration of the vibrating body 1 can be provided.
なお、この発明の実施例では、相対回転角度に
比例した復元力を加えて説明したが、その他例え
ば、アクチユエータ３としてモータ等使用すれ
ば、アクチユエータ３の回転角度に制限はなく、
従つて相対回転角度に比例した復元力の不要な振
動制御装置にも適用できる他、制御トルクとし
て、振動体１と付加質量８の相対回転速度に比例
したものと説明したが、振動体１のねじれ回転速
度と付加質量８の回転速度を別々に検出して、そ
れぞれの回転速度に比例した制御トルクを発生さ
せる振動制御装置に適用できることは明らかであ
る。 In the embodiments of the present invention, a restoring force proportional to the relative rotation angle is applied, but if a motor or the like is used as the actuator 3, there is no limit to the rotation angle of the actuator 3.
Therefore, it can be applied to a vibration control device that does not require a restoring force proportional to the relative rotation angle, and the control torque is proportional to the relative rotational speed of the vibrating body 1 and the additional mass 8. It is clear that the present invention can be applied to a vibration control device that separately detects the torsional rotational speed and the rotational speed of the additional mass 8 and generates control torques proportional to the respective rotational speeds.
第１図は従来の実施例を示す図、第２図はこの
発明の実施例を示す図、第３図は第２図に示した
制御器の構成図である。
図中、１は振動体、３はアクチユエータ、４は
回転コア、５は固定コア、６は回転速度計、７は
回転角度計、８は付加質量、９は制御器、９ａは
回転速度増幅器、９ｂは回転角度増幅器、９ｃは
加算器、９ｄは電力増幅器である。なお、図中同
一符号は同一、又は相当部分を示す。
FIG. 1 is a diagram showing a conventional embodiment, FIG. 2 is a diagram showing an embodiment of the present invention, and FIG. 3 is a configuration diagram of the controller shown in FIG. 2. In the figure, 1 is a vibrating body, 3 is an actuator, 4 is a rotating core, 5 is a fixed core, 6 is a rotation speed meter, 7 is a rotation angle meter, 8 is an additional mass, 9 is a controller, 9a is a rotation speed amplifier, 9b is a rotation angle amplifier, 9c is an adder, and 9d is a power amplifier. Note that the same reference numerals in the figures indicate the same or equivalent parts.
Claims (1)
れ、付加質量を回転運動させるアクチユエータ
と、上記振動体と付加質量の相対回転速度と相対
回転角度を検出する手段と、上記、振動体と付加
質量の相対回転速度と相対回転角度に比例した制
御トルク発生し得るよう上記アクチユエータに指
令を出す制御器とを備えたことを特徴とする振動
制御装置。1. An actuator that is fixed to a vibrating body that torsionally vibrates in response to an external force and rotates an additional mass, a means for detecting the relative rotational speed and relative rotation angle of the vibrating body and the additional mass, and the vibrating body and the additional mass. A vibration control device comprising: a controller that issues a command to the actuator to generate a control torque proportional to the relative rotational speed and relative rotational angle of the actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6402683A JPS59190538A (en) | 1983-04-12 | 1983-04-12 | Vibration control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6402683A JPS59190538A (en) | 1983-04-12 | 1983-04-12 | Vibration control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59190538A JPS59190538A (en) | 1984-10-29 |
| JPH0359446B2 true JPH0359446B2 (en) | 1991-09-10 |
Family
ID=13246215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6402683A Granted JPS59190538A (en) | 1983-04-12 | 1983-04-12 | Vibration control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59190538A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5209326A (en) * | 1989-03-16 | 1993-05-11 | Active Noise And Vibration Technologies Inc. | Active vibration control |
| KR100826015B1 (en) | 2006-12-15 | 2008-04-28 | 현대중공업 주식회사 | Phase analyaing method and system of body vibration for diesel engine |
| WO2009094617A1 (en) * | 2008-01-24 | 2009-07-30 | Lord Corporation | Powered construction ground compactor and method of making |
-
1983
- 1983-04-12 JP JP6402683A patent/JPS59190538A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59190538A (en) | 1984-10-29 |
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