JPH08260747A - Damping device for vibration control of structures - Google Patents

Abstract

(57) [Summary] [Purpose] To grasp the control state quantity of the damper and monitor whether it is operating properly. [Composition] A damping device for damping, in which a damper 5 is interposed between a frame body of a structure and a seismic resistant element so as to damp the vibration of the structure, and a cylinder 10 as the damper 5 is provided.
Communication circuit 15 that connects both cylinder chambers of
5, the control valve 30 interposed therebetween, the sensors 32a and 32b for respectively detecting the pressures before and after the control valve 30, and the damping force characteristic corresponding to the period of the structure sway,
The opening area of the control valve 30 is calculated and controlled on the basis of the detected front-rear differential pressure, while the piston stroke amount is estimated,
A controller 40 for closing the opening of the control valve 30 when the stroke value reaches the limit stroke value, a circuit 41 for storing the control state quantity, and a monitor 42 for displaying the control state quantity are provided.

Description

Detailed Description of the Invention

[0001]

FIELD OF THE INVENTION The present invention relates to a high damping device for damping structures.

[0002]

2. Description of the Related Art In order to reduce the shaking of a high-rise building caused by wind and the shaking caused by an earthquake, seismic resistant elements such as braces and walls are installed in the structure of the beam structure of the structure. Various methods have been proposed in which the dampers are connected to each other to reduce the vibration of the structure (for example, Japanese Patent Laid-Open No. 5-5.
9841, JP-A-6-2450, etc.).

By the way, the vibration cycle of a structure due to wind differs from that of an earthquake.
The optimum damping characteristics of the damper for damping these vibrations also differ.

Therefore, in Japanese Unexamined Patent Publication No. 6-2450, a damping valve having a large damping coefficient C and a steep slope is provided by a regulating valve and a relief valve provided inside the damper piston, as shown in FIG. (Damping coefficient Ca), a part having a moderate slope (damping coefficient Cb = medium), and a part having a gentle slope (damping coefficient Cc = small) are set to a polygonal line characteristic, and the damping coefficient Ca part suppresses vibration against wind. , Cb exerts a vibration damping action against an earthquake, and Cc serves to dampen the structure while protecting it against an excessive external force.

In order to change the damping force in this way, a slit is provided in the adjusting valve to control the damping force generated by the damper.

[0006]

By the way, in such a damping device, it is not possible to accurately confirm the control state of the damping force by the damper with respect to the shaking of the structure. It is only confirmed from the outside by visual inspection.

However, in this case, the operation of the damping device cannot be objectively grasped, and it becomes difficult to realize the optimum vibration control for the vibration of the structure.

The present invention detects the control state quantity of the damper,
The purpose is to realize an optimum vibration damping operation by storing and objectively grasping the damping control based on the memory.

[0009]

SUMMARY OF THE INVENTION Therefore, according to the first aspect of the present invention, as shown in FIG. 6, a damper is interposed between a frame body of a structure and a seismic resistant element so as to damp the vibration of the structure. In the damping device for vibration damping described above, a double rod type cylinder (10) containing a working fluid as the damper, a communication circuit (15) for connecting both cylinder chambers defined by the pistons of the cylinders, and a communication circuit Control valve (30)
A means (32a, 32b) for detecting the pressure before and after the control valve, a means 51 for setting a damping force characteristic corresponding to the period of the structure sway, and a set damping based on the detected differential pressure across the valve. Means 52 for calculating and controlling the opening area of the control valve for imparting force characteristics,
Similarly, means 53 for calculating a piston speed from the differential pressure across the control valve and control valve opening area, means 54 for estimating the piston stroke amount by integrating the piston speed, and the control when the stroke amount reaches a predetermined limit value A stop means 55 for fully closing the valve, a means 56 for storing the pressure before and after the control valve, an opening area of the control valve, a piston speed, a piston stroke amount, etc., and a means 57 for displaying or recording the storage result. . (However, the reference numerals in parentheses correspond to the embodiments.) In the second invention, the displacement amount of the structure is measured from the output of the piston stroke amount estimating means in the first invention.

According to a third aspect of the present invention, in the first aspect of the present invention, means for detecting the actual piston moving speed, and means for estimating the cylinder internal leak amount from the actually detected piston speed and the calculated piston speed. Equipped with.

[0011]

In the first aspect of the invention, when the structure shakes, a relative displacement difference occurs between the frame body and the seismic resistant element, and the piston of the cylinder displaces accordingly. Due to the displacement of the piston, the working fluid moves between the left and right cylinder chambers via the communication circuit, and at this time, fluid resistance is generated according to the opening of the control valve, which becomes the damping force that absorbs and attenuates the displacement difference. , Reduce the sway of the structure. The damping force at this time has a relationship between the piston speed and the damping force set in advance so that the damping force has a predetermined damping force characteristic corresponding to the period of the structure swing. The most effective damping effect is produced according to the characteristics of.

Further, the piston stroke amount is estimated based on the piston speed, and when the stroke amount reaches a predetermined limit value, the control valve is closed to prevent further movement of the piston. Therefore, even when an excessive vibration is input, the piston does not reach the stroke end and violently collide with the cylinder wall, and the damper is prevented from being damaged.

On the other hand, the control state amount of these dampers, that is, the pressure before and after the control valve, the opening area of the control valve, the piston speed, the piston stroke amount, etc. are stored in the storage means, and displayed and recorded by the storage means. Thus, the characteristics of the damping force actually controlled are grasped. Therefore, it is possible to monitor whether or not the vibration damping device is operating properly, and to adjust and control so that the optimum damping force characteristic is exhibited.

According to the second aspect of the present invention, the sway of the structure can be detected from the estimated value of the piston stroke amount, and the function as an earthquake observation sensor can be provided.

According to the third aspect of the invention, the cylinder internal leak amount can be estimated from the actual piston velocity and the calculated piston velocity, and piston wear or the like can be grasped based on this. It can be managed.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a damper for damping, and FIGS. 2 and 3 show a structure incorporating this damper. First, in FIGS. 2 and 3, 1 is a structure and 2 is a structure 1. Pillars 3 constituting each floor of the column are beams, and these columns 2, 3
A brace 4 as a seismic resistant element is locally provided on each floor of the frame body made of, for example, the brace 4 and the beam 3 are connected by a damper 5 to damp relative vibrations in the horizontal direction.

When a sway (horizontal sway) occurs in the structure 1 due to wind or the like, a brace 4 serving as an earthquake resistant element.
However, the amount of movement of the beam 3 is large and a relative vibration difference is generated. By damping this vibration difference by the resistance force of the damper 5, the movement of the beam 3 is suppressed and the entire structure 1 shakes. Can be made smaller. At this time, the vibration cycle of the sway of the structure 1 is different between that due to wind or the like and that due to an earthquake, and the damping force characteristics required for the damper 5 also differ corresponding to these vibration characteristics.

In order to meet the demand for such damping force characteristics, the damper 5 is constructed as shown in FIG.

In the figure, 10 is a double rod type cylinder, 11 is a piston, 12a and 12b are piston rods of the same diameter projected from both ends of the cylinder 10, 13a and 13b are cylinder chambers formed on both sides of the piston 11, 14a, 1
4b has one piston rod 12a and the other cylinder 1
It is a connecting bracket attached to 0.

These left and right cylinder chambers 13a, 13b
Are communicated with each other by a communication circuit 15, and the piston 11
The working fluid enclosed inside moves between the cylinder chambers 13a and 13b. Although not shown, an accumulator is connected to a part of the communication circuit 15 to compensate for expansion / contraction or leakage of the working fluid. However,
Even if there is a leak, when the shaking stops, the piston 11 is forcibly returned to the neutral position.

An electromagnetic proportional control valve 30 is provided in the communication circuit 15, and resistance is given to the flow of the working fluid according to the opening degree of the proportional control valve 30 to generate a damping force.

The electromagnetic proportional control valve 30 is operated by a control signal from the controller 40, and the controller 40 is operated as shown in FIG.
As shown in (A) and (B), the opening (opening area) of the electromagnetic proportional control valve 30 is calculated according to a preset target damping force characteristic, and the actual damping force is adjusted so as to match the target value. Feed pack control the opening. Furthermore, the piston speed is calculated based on the flow rate of the working fluid obtained from the opening degree of the electromagnetic proportional control valve 30 and the differential pressure across the valve at that time,
The piston stroke amount is estimated from the integrated value of the piston velocity while the working fluid flows in the same direction, and when this stroke amount reaches a preset limit value, the electromagnetic proportional control valve 30 is closed and the damper 5 is actuated. Is supposed to stop.

On the other hand, various control amounts calculated by the controller 40, that is, the pressures before and after the electromagnetic proportional control valve 30, the opening area, the piston speed, the piston stroke amount, etc. are stored in the storage circuit 41 and the stored contents thereof. Is displayed by a monitor 42 connected by a communication circuit or the like. The stored contents can be recorded by a printer or the like.

For this reason, the controller 40 has a displacement sensor 3 for detecting the displacement (opening) of the electromagnetic proportional control valve 30.
1. The signals from the pressure sensors 32a and 32b that detect the pressure in the cylinder chambers 13a and 13b are input.

Here, the control operation of the damping force executed by the controller 40 will be described first based on its principle.

Now, for example, the target damping force characteristic is shown in FIG. 5 (A), and the opening characteristic of the electromagnetic proportional control valve 30 required to generate the damping force characteristic is as shown in FIG. 5 (B). Shall be.

The damping force characteristic shown by the solid line is a composite characteristic of two linear damping characteristics, and the respective damping coefficients are C ₁ and C ₂ , and in this case, the damping force control characteristic is relative to the piston speed. Then, the smaller one of the linear characteristics can be selected.

Now, the linear damping force characteristic is given by F = C ₁ · V (1) as the generated damping force F and the piston velocity V. Here, ignoring the compressibility of the working fluid, the damping force F and the piston speed V are: F = A.P ... (2) V = Q / A ... (3) where P is the difference between the cylinder chambers 13a and 13b. Pressure (│Pa
-Pb |), Q is the piston discharge amount (valve passing flow rate), and A is the piston pressure receiving area.

Further, the cylinder discharge amount (valve passing flow rate) Q
Is calculated from the valve opening area a ₁ and the differential pressure P across it: Q = α · a ₁ √ (P) (4) where α is a constant. Therefore, from these equations (1) to (4),
The valve opening area a ₁ of the electromagnetic proportional control valve for generating the linear characteristic (see FIG. 5 (B)) is obtained as follows.

A ₁ = (A ² / C ₁ · α) · √ (P) (5) Next, the linear damping force characteristic is F = C ₂ · V + F ₂ (6) where F ₂ is It is given as the damping force when the piston speed V = 0. Further, in the same manner as the straight line, F = AP · (7) V = Q / A ·· (8) Q = α · a ₂ √ (P)… (9) where a ₂ is the valve opening area. To be From these equations (6) to (9), the valve opening area a ₂
Is calculated as follows.

A ₂ = (A ² / C ₂ · α) [√ (P) −P ₂ / √ (P)] (10) where P ₂ is the pressure at piston speed = 0 (= F ₂ /
A) In this formula (10), since the range of P ≦ P ₂ (F ≦ F ₂ ) does not have to be controlled, a ₂ = 0 (however, P ≦ P ₂ ) a ₂ = (A ² / C ₂ · α) [√ (P) −P ₂ / √ (P)] (where P> P ₂ ) ... (11) Therefore, based on this, the valve opening area is a ₂
If it is controlled so that a linear characteristic can be obtained.

As described above, for the overall damping force characteristic, the smaller one of the straight lines may be selected.
Regarding the valve opening areas a ₁ and a ₂ , the larger the valve opening area is, the smaller the generated damping force is. Therefore, the larger value ar among the calculated values of a ₁ and a ₂ should be selected. Therefore, ar = max (a ₁ , a ₂ ) ... (12) However, max (a ₁ , a ₂ ) means that either a ₁ or a ₂ whichever is larger is selected.

In the above description, two straight lines,
Although the control of the damping force characteristic obtained by combining the above is described, the damping force characteristic formed by combining the N straight lines can be calculated as follows based on the equation (11).

Ai = 0 (where P ≦ Pi) ai = (A ² / Ci · α) [√ (P) −Pi / √ (P)] (where P> Pi) (13) where i = 2,3, ... N Next, a principle for estimating the piston stroke amount of the damper 5 and stopping it when a predetermined limit value is reached will be described.

First, the cylinder discharge flow rate Q is determined by the above (4) and (9).
From this, Q = α · ai√ (P) ... (14) From this flow rate Q to the piston speed V,
From the equations (3) and (8), V = Q / A (15) The piston stroke amount Y can be calculated by integrating the piston speed V while the piston is moving in the same direction. That is, it is calculated as Y = ∫Vdt (16).

In the determination of the movement of the piston in the same direction, the differential pressure is always zero every time the direction of the movement is reversed due to the input of the vibration to the damper 5, so that the differential pressure changes from zero during the integration period. Between the start and the next to zero, or because the sign of the pressure difference between the upstream and downstream of the control valve changes from positive to negative or negative to positive with the reversal of the moving direction, The signs may be integrated only during the same period.

Then, the absolute value of the piston stroke amount Y is compared with a preset limit stroke value Ye in the following manner to determine the limit stroke.

│Y│≤Ye (17) If the limit stroke amount Ye is reached, the control valve is closed by outputting a ₀ , which means fully closed, as the valve opening area ar. As a result, it is possible to prevent the piston 11 from colliding with the cylinder wall.

When the control valve is momentarily closed to output a ₀ , the shock when the piston is stopped becomes large. Therefore, it may be closed over a certain time as a function of time.

Next, the control operation executed by the controller 40 will be described with reference to the flowchart of FIG.

As shown in FIG. 4, first, regarding the linear characteristic, in step 1, from the detected pressures Pa and Pb,
The differential pressure P is calculated as P = | Pa−Pb |. In step 2, the valve opening area a ₁ is calculated as a ₁ = (A ² / C ₁ · α) · √ (P) from the differential pressure P and the damping coefficient C ₁ .

Next, regarding the straight line, in step 3, the valve opening area a ₂ is a ₂ = 0 (where P ≦ P ₂ ) by the differential pressure P, the damping coefficient C ₂ and the intercept pressure P _2, and a ₂ = (A ²
/ C ₂ · α) [√ (P) -P ₂ / √ (P)] (where P
> P ₂ ).

Then, in step 4, the larger value of a ₁ and a ₂ is selected as ar, and in step 5, this valve opening area ar is looked up in the area-displacement conversion table as the valve displacement xr. And then convert.

Next, in step 6, the piston velocity V is calculated from the differential pressure P, the flow rate Q obtained from the valve opening area ar, and the piston cross-sectional area A as V = Q / A. In step 7, this piston speed V is integrated only during the same piston moving direction, and the piston stroke amount Y is Y = ∫V
Then, in step 8, the absolute value of this stroke amount is compared with a preset limit stroke value Ye.

When the piston stroke amount Y is within the limit value, the process proceeds to step 9 and the valve displacement xr obtained in step 5 is used as a valve displacement command signal for the electromagnetic proportional control valve 30. However, when the stroke amount reaches the limit stroke value Ye, the valve displacement command signal xr of the electromagnetic proportional control valve 30 is set to x so that the damper 5 is not further stroked.
_A fully closed signal is output as ₀ (= a ₀ ) (step 1
0).

Then, in step 11, the valve displacement command signal xr is compared with the actual valve displacement amount x, and the control signal SIG to the electromagnetic proportional control valve 30 is set so that this x coincides with xr.
Is corrected and this is output.

On the other hand, in step 12, each of the calculated control amounts, that is, the pressure before and after the electromagnetic proportional control valve 30,
The opening area, piston speed, piston stroke amount, etc. are stored, and in step 13, these stored contents are output to the monitor.

By the above control, the opening degree (displacement) of the electromagnetic proportional control valve 30 changes according to the piston speed of the damper 5, and the damper 5 corresponding to this opening degree is damped as shown in FIG. Generate force.

When the structure 1 is shaken by wind or the like, a relative displacement is generated between the brace 4 and the beam 3 which are seismic resistant elements, and this relative displacement is attenuated by the resistance force of the damper 5. . The swaying cycle of the structure 1 differs depending on whether it is due to a wind or an earthquake, and accordingly the damper 5
The piston speed of changes. Therefore, the vibration of the structure 1 can be effectively absorbed and damped by the damping force being variably controlled according to the piston speed.

On the other hand, when the piston stroke of the damper 5 reaches the maximum stroke, the piston 11 may collide with the cylinder wall and the damper 5 may be damaged.

However, as described above, the piston stroke amount is always estimated, and when the predetermined stroke limit value is reached, the opening degree of the electromagnetic control valve 30 is forced to zero, that is, the valve is closed. As a result, the damper 5 cannot move further, mechanical collision of the piston 11 is avoided, and the damper 5 can be reliably prevented from being broken. In this case, since it is not necessary to provide a stroke sensor or the like to measure the piston stroke amount, the structure can be simplified accordingly.

When the piston stroke amount returns to the range of the limit stroke value, the opening of the electromagnetic proportional control valve 30 automatically returns to the optimum opening for vibration damping, and the vibration damping operation is restarted. .

Since the damper 5 is connected between the beam 3 and the brace 4 by the connecting brackets 14a and 14b of the cylinder 10 and the piston rod 12a, the damper 5 is automatically initialized when the structure 1 stops shaking. The state, that is, the piston is returned to the neutral position. Therefore, even if the working fluid leaks or the like, the movement of the piston 11 is always started from the neutral position. Therefore, the piston 11 does not reach the stroke end as long as it is within the limit stroke value.

The damping force characteristic of the damper 5 generated by the electromagnetic proportional control valve 30 can be freely adjusted by a signal from the controller 40. As shown in FIG.
Not limited to the combined characteristics of the two straight lines, it is also possible to freely set the damping force characteristics obtained by combining a plurality of straight lines as shown in the above equation (13).
It is possible to bring about an optimum vibration damping effect in accordance with the vibration characteristics of.

On the other hand, the control state amount with respect to the damper 5, for example, the pressure before and after the electromagnetic proportional control valve 30, the opening area, the piston speed, the piston stroke amount, etc. are stored in the controller 40 and are also displayed step by step by the monitor 42. Therefore, by observing the displayed contents, it can be objectively and accurately grasped whether or not the damper 5 is properly performing the damping operation.

Further, the control state quantity of each damper 5 is taken into the computer of the central management department through a communication line or the like and the data is centrally managed so that the occurrence of an abnormality can be immediately grasped and an appropriate countermeasure can be taken immediately. It is also possible to apply.

Further, by analyzing the actual control state quantity, it is possible to judge whether or not the damping action for the structure is properly performed. Therefore, in order to give the optimum damping force characteristic to the damping of the structure. It is possible to correct the damping force.

By the way, the piston stroke amount of the damper 5 represents the size of the sway of the structure. Therefore, the amount of the sway such as an earthquake can be grasped from this piston stroke amount, and it can be used as an earthquake observation sensor. Function.

Further, a cylinder internal leak amount can be measured by mounting a sensor for actually measuring the moving speed of the damper piston and comparing the detected value with the piston speed calculated in step 6. If there is no internal leak, the detected value of the piston speed matches the calculated value, but if there is an internal leak, that amount does not pass through the electromagnetic proportional control valve 30, so the calculated value becomes smaller than the detected value. .

Therefore, the internal leak amount can be estimated on the basis of this difference. In this case, as the wear of the piston 11 increases, the internal leak amount also increases, and the damping force characteristic actually controlled also fluctuates. In this way, it is possible to grasp the piston wear from the amount of leakage from the piston sliding gap and take appropriate measures such as replacement.

[0061]

According to a first aspect of the present invention, a damper for damping vibration of a structure is provided between the frame body of the structure and the seismic resistant element to dampen the vibration of the structure. Double rod type cylinder filled with working fluid, communication circuit connecting both cylinder chambers defined by cylinder piston, control valve installed in the communication circuit, and pressure before and after this control valve are detected respectively Means, a means for setting a damping force characteristic corresponding to the period of sway of the structure, and an opening area of the control valve for applying the set damping force characteristic based on the detected differential pressure across the control valve, and controlling the opening area. Similarly, means for calculating the piston speed from the differential pressure across the valve and control valve opening area, means for estimating the piston stroke amount by integrating the piston speed, and when the stroke amount reaches a predetermined limit value. Stop means for fully closing the control valve, means for storing control state quantities such as pressure before and after the control valve, opening area of the control valve, piston speed, piston stroke amount, and means for displaying or recording the stored contents. Therefore, the most effective damping force characteristics corresponding to the characteristics of the structure's vibration produce a damping effect, while preventing the piston from reaching the stroke end and colliding with the cylinder wall, damaging the damper, While avoiding breakage and improving its reliability and durability, it is actually controlled from the control state amount of the damper, that is, the pressure before and after the control valve, the opening area of the control valve, the piston speed, the piston stroke amount, etc. The characteristics of the damping force can be grasped, whether or not the vibration damping device is operating properly can be accurately monitored, and the optimum damping force characteristic according to the structure can be given.

In the second aspect of the invention, the displacement amount of the structure is measured from the output of the piston stroke amount estimating means, so that it can function as an earthquake observation sensor by detecting the actual shake of the structure. .

The third aspect of the invention comprises means for detecting the actual piston moving speed and means for estimating the cylinder internal leak amount from the actually detected piston speed and the calculated piston speed. The cylinder internal leak amount is estimated from the piston speed and the calculated piston speed, and the piston wear and the like can be grasped based on this, and the damper can be appropriately managed.

[Brief description of drawings]

FIG. 1 is a hydraulic circuit diagram showing an embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of a structure.

FIG. 3 is a schematic configuration diagram showing a mounted state of a damper.

FIG. 4 is a flowchart showing a control operation of a controller.

5A and 5B show damping force characteristics of a damper, FIG. 5A being an explanatory diagram showing a relationship between a piston speed and a damping force, and FIG. 5B being an explanatory diagram showing a relationship between a piston speed and an opening area of a control valve. .

FIG. 6 is a configuration diagram showing a configuration of the present invention.

FIG. 7 is an explanatory diagram showing a conventional damping force characteristic.

[Explanation of symbols]

 10 cylinders 12a, 12b piston rods 13a, 13b cylinder chamber 15 communication circuit 30 electromagnetic proportional control valve 31 displacement sensor 32a, 32b pressure sensor 40 controller 41 memory circuit 42 monitor

Claims (3)

[Claims] 1. A vibration damping damping device, wherein a damper is interposed between a frame main body of a structure and a seismic resistant element so as to damp the vibration of the structure, both of which are filled with a working fluid as the damper. A rod type cylinder, a communication circuit that communicates both cylinder chambers defined by the pistons of the cylinder, a control valve interposed in the communication circuit, a means for detecting the pressure before and after the control valve, and a structure. Means for setting a damping force characteristic corresponding to the sway cycle, a means for controlling the opening area of the control valve so as to give the set damping force characteristic based on the detected front-rear differential pressure, and the front-rear differential pressure as well. A means for calculating the piston speed from the control valve opening area, a means for integrating the piston speed to estimate the piston stroke amount, and a stop means for fully closing the control valve when the stroke amount reaches a predetermined limit value. Stage and pressure before and after the control valve,
A damping device for vibration damping of a structure, comprising: a means for storing control state quantities such as an opening area of a control valve, a piston speed, and a piston stroke quantity; and means for displaying or recording the stored contents. 2. The damping device for vibration damping of a structure according to claim 1, wherein a displacement amount of the structure is measured from an output of the piston stroke amount estimating means. 3. The structure according to claim 1, further comprising means for detecting an actual piston moving speed, and means for estimating a cylinder internal leak amount from the actually detected piston speed and the calculated piston speed. Damping device for.