磁流变液执行器分段线性力矩-电流模型研究

Research on Subsection Linear Torque-Curren Model of a Magnetorheological Fluids Actuator

磁流变液执行器通过控制输入电流控制输出力矩，精确地确定输出力矩和输入电流之间的关系是关键。提出了一种新的包含磁滞特性的分段线性力矩-电流模型，导出了基于Bingham塑性模型的圆筒式磁流变液执行器的力矩公式，研究了铁磁物质和磁流变液的磁特性。实验表明磁流变液执行器的力矩和电流之间存在磁滞，二次多项式模型、分段线性模型和实验数据比较的结果证明了分段线性模型的有效性。

A magnetorheological fluid （MRF） actuator controlled output torque through input current. Exact knowledge of the relationship between the torque and current was the key. A novel subsection linear torque-current model considering hysteresis was presented. The torque formula of cylindrical MRF actuator based on the Bingham plastic model was derived. The magnetic properties of ferromagnetic materials and MRF were studied. A hysteresis behavior was observed in the torquecurrent experimental curve. The validity of the subsection linear model is verified by comparison the quadratic-multinomial model, subsection linear model and experimental data.