Adaptive Control of Helicopter Ground Resonance with Magnetorheological Damper

The methodology for adaptive control of helicopter ground resonance with magnetorheological （MR） damper is presented. The adaptive inverse control method is used to control the output damping force of MR damper and the range of the damping force is given. Through the adaptive inverse control, the damping force of MR damper is fit to a desired damping force. With the background of applying MR damper to control of helicopter ground resonance, a model of loss force and an adaptive arithmetic for stabilization of the coupled rotor/fuselage system are presented. The simulation shows that the controller presented in this paper can stabilize the rotor/fuselage coupling system quickly and control the helicopter ground resonance effectively.

Development and Control of a Magnetorheological Damper‑Based Brake Pedal Simulator for Vehicle Brake‑by‑Wire Systems

Recent developments have demonstrated that the brake pedal simulator(BPS)is becoming an indispensable apparatus for the break-by-wire systems in future electric vehicles.Its main function is to provide the driver with a comfortable pedal feel to improve braking safety and comfort.This paper presents the development and control of an adjustable BPS,using a disk-type magnetorheological(MR)damper as the passive braking reaction generator to simulate the traditional pedal feel.A detailed description of the mechanical design of the MR damper-based BSP(MRDBBPS)is presented in this paper.Several basic performance experiments on the MRDBBPS prototype are conducted.A returnto-zero(RTZ)algorithm is proposed to avoid hysteresis and improve the repeatability of the pedal force.In addition,an RTZ algorithm-based real-time current-tracking controller(RTZRC)is designed in consideration of the response lag of the coil circuit.Finally,an experimental system is established by integrating the MRDBBPS prototype into a selfdeveloped automotive MR braking test bench(AMRBTB),and several control and braking experiments are performed.This research proposes a RTZRC control algorithm which can significantly increase the tracking accuracy of the brake pedal characteristic curve,particularly at a high pedal velocity.Additionally,the designed MRDBBPS prototype can achieve an effective and favorable control of the AMRBTB with a good repeatability.

Experimental Investigation into Magnetorheological Damper Subjected to Impact Loads

A good mechanical model of magnetorheological damper (MRD) is essential to predict the shock isolation performance of MRD in numerical simulation. But at present, the mechanical models of MRD were all derived from the experiment subjected to harmonic vibration loads. In this paper, a commercial MRD (type RD-1005-3) manufactured by Lord Corporation was studied ex-perimentally in order to investigate its isolation performance under the impact loads. A new me-chanical model of MRD was proposed according to the data obtained by impact test. A good agreement between the numerical results and test data was observed, which showed that the model was good to simulate the dynamic properties of MRD under impact loads. It is also demon-strated that MRD can improve the acceleration and displacement response of the structure obvi-ously under impact loads.

A new controller for the semi-active suspension system with magnetorheological dampers

A new sliding mode controller for semi-active suspension system with magnetorheological (MR) damper is presented in this paper. In the proposed sliding mode controller, a semi-active suspension based on the skyhook damper system is chosen as the reference model to be followed, and the control law is so determined that the asymptotically stable error dynamics occurs between the controlled state and the reference model state. Numerical simulations are carried out to study the performance of the new sliding mode controller. The results show that the proposed controller yields almost perfect tracking to the reference model and has a high robustness against model parameter uncertainties and disturbances.

Tremor Suppression Method via Magnetorheological Damper and Fuzzy Neural Network Control

Based on the performance of magnetorheological damper we have developed,a tremor suppression method using human limb nonrigid characteristic was presented.The tremor suppression machine was designed,and the measure part and the tremor suppression part were separated.Subsequently,the mathematic models of fuzzy neural network and elbow nonrigid tremor were worked out.Using selected training data set,the off-line fuzzy neural network training was finished.Then the tremor suppression method was simulated in Matlab.From the simulation results,it is found that the tremor suppression method has presented suppresses tremor effectively,and the tremor amplitude and tremor suppression torque can be controlled with angle displacement sensor.

Adaptive Backstepping Control Design for Semi-Active Suspension of Half-Vehicle With Magnetorheological Damper

This paper investigates the problem of controlling half-vehicle semi-active suspension system involving a magnetorheological(MR)damper.This features a hysteretic behavior that is presently captured through the nonlinear Bouc-Wen model.The control objective is to regulate well the heave and the pitch motions of the chassis despite the road irregularities.The difficulty of the control problem lies in the nonlinearity of the system model,the uncertainty of some of its parameters,and the inaccessibility to measurements of the hysteresis internal state variables.Using Lyapunov control design tools,we design two observers to get online estimates of the hysteresis internal states and a stabilizing adaptive state-feedback regulator.The whole adaptive controller is formally shown to meet the desired control objectives.This theoretical result is confirmed by several simulations demonstrating the supremacy of the latter compared to the skyhook control and passive suspension.

Research on the dynamic performance of ship isolator system that use magnetorheological dampers

Isolator systems on ships should ideally be able to simultaneously reduce low frequency vibration response and high frequency shock response. Conventional isolator systems are unable to do so To solve the problem, a new style isolator system was created. This isolator system consists of a steel coil spring component and a magnetorheological （MR） damper component working in parallel. Experiments on this isolator system were carried out, including tests of vibration reduction and shock resistance. The vibration load frequencies were set from 1-15 Hz, and force amplitudes from 2.94-11.76kN. The maximum shock input acceleration was 20 g, and impulse width was lores. Both the vibration and shock loads were applied using MTS Systems Corporation＇s hydraulic actuators. The experimental results indicated that the isolator system performs well on system vibration response, with resonance humps of the vibration response obviously reduced after using the MR damper. For the shock experiment, the attenuation of shock response was much faster with increased MR damping. The MR damper＇s effect on shock moments was very different from its performance in vibration mode. The correlation between MR force and control current was not as evident as it was during vibration loads.

Experimental Study on Magnetorheological Damper for Semi-Active Vibration Control of Civil Infrastructures

Magnetorheological (MR) fluid is a kind of smart material whose rheological properties can be rapidly varied in magnetic field. To make full use of the advantages of MR fluid to devices, a model of double ended, shear combined and valve typed MR damper is designed and manufactured, and the dynamic properties under sinusoidal excitations are experimentally studied. The experiment results show that the maximum damping force of the MR damper at the full magnetic intensity reaches about 20 kN while the maximum power required is less than 50 W, which predicts that the MR damper will be a powerful measurement for semi active vibration control of civil infrastructures.

Trispectrum and correlation dimension analysis of magnetorheological damper in vibration screen

In order to improve the screening efficiency of vibrating screen and make vibration process smooth,a new type of magnetorheological (MR) damper was proposed. The signals of displacement in the vibration process during the test were collected. The trispectrum model of autoregressive (AR) time series was built and the correlation dimension was used to quantify the fractal characteristics during the vibration process. The result shows that,in different working conditions,trispectrum slices are applied to obtaining the information of non-Gaussian,nonlinear amplitude?frequency characteristics of the signal. Besides,there is correlation between the correlation dimension of vibration signal and trispectrum slices,which is very important to select the optimum working parameters of the MR damper and vibrating screen. And in the experimental conditions,it is found that when the working current of MR damper is 2 A and the rotation speed of vibration motor is 800 r/min,the vibration screen reaches its maximum screening efficiency.

Mechanical-Delay Dynamic Model of Magnetorheological Damper

In the dynamic characteristic experiment of magnetorheological( MR) damper, a strange feature which the improved Bouc-Wen model based on tanh function cannot accurately describe has been shown when MR damper is reversing or at a low speed. In order to describe this phenomenon,a new mechanicaldelay dynamic model based on the improved Bouc-Wen model has been proposed for MR damper. This new model comprehensively considers the coupling effect on the structural flexibility of MR damper and the MR effect of MR fluid. The identification results show that the new mechanical-delay dynamic model for MR damper has a good coherence with experiment whenever at low or high speed.

Design,Testing and Control of a Magnetorheological Damper for Knee Prostheses

This study aims to develop a magnetorheological(MR)damper for semi-active knee prostheses to restore the walking ability of transfemoral amputees.The core dimensions of the MR damper were determined via theoretical magnetic field calculations,and the theoretical relationship between current and joint torque was derived through electromagnetic simulation.Then,a physical prototype of the semi-active prosthetic knee equipped with the MR damper was manufactured.Based on the data obtained from angle sensor,pressure sensor(loadcell),and inertial measurement unit(IMU)on the prosthesis,a matching control algorithm is developed.The joint torque of the MR damper can be adaptively adjusted according to the walking speed of the amputee,allowing the amputee to realize a natural gait.The effectiveness of the control program was verified by the ADAMS and MATLAB co-simulation.The results of the test and simulation show that the MR damper can provide sufficient torque needed for normal human activities.

Nonlinear characteristic investigation of magnetorheological damper-rotor system with local nonlinearity

Magnetorheological(MR)dampers show superior performance in reducing rotor vibration,but their high nonlinearity will cause nonsynchronous response,resulting in fatigue and instability of rotors.Herein,we are devoted to the investigation of the nonlinear characteristics of MR damper mounted on a flexible rotor.First,Reynolds equations with bilinear constitutive equations of MR fluid are employed to derive nonlinear oil film forces.Then,the Finite Element(FE)model of rotor system is developed,where the local nonlinear support forces produced by MR damper and its coupling effects with the rotor are considered.A hybrid numerical method is proposed to solve the nonlinear FE motion equations of the MR damper-rotor system.To validate the proposed model,a rotor test bench with two dual-coil MR dampers is constructed,upon which experimental studies on the dynamic characteristics of MR damper-rotor system are carried out.The effects of different system parameters,including rotational speed,excitation current and amount of unbalance,on nonlinear dynamic behaviors of MR damper-rotor system are evaluated.The results show that the system may appear chaos,jumping,and other complex nonlinear phenomena,and the level of the nonlinearity can be effectively alleviated by applying suitable excitation current and oil supply pressure.

Seismic control of multi-degrees-of-freedom structures by vertical mass isolation method using MR dampers

Vertical mass isolation(VMI)is one of the novel methods for the seismic control of structures.In this method,the entire structure is assumed to consist of two mass and stiffness subsystems,and an isolated layer is located among them.In this study,the magnetorheological damper in three modes:passive-off,passive-on,and semi-active mode with variable voltage between zero and 9 volts was used as an isolated layer between two subsystems.Multi-degrees-of-freedom structures with 5,10,and 15 floors in two dimensions were examined under 11 pairs of near field earthquakes.On each level,the displacement of MR dampers was taken into account.The responses of maximum displacement,maximum inter-story drift,and maximum base shear in controlled and uncontrolled buildings were compared to assess the suggested approach for seismic control of the structures.According to the results,the semi-active control method can reduce the response by more than 12%compared to the uncontrolled mode in terms of maximum displacement of the mass subsystem of the structures.This method can reduce more than 16%and 20%of the responses compared to the uncontrolled mode in terms of maximum inter-story drift and base shear of the structure,respectively.

Optimizing Control for Rotor Vibration with Magnetorheological Fluid Damper

The aim of this work is to analyze and design a control system for vibration reduction in a rotor system using a shear mode magnetorheological fluid(MRF)damper.A dynamic model of the MRF damper-rotor system was built and simulated in Matlab/Simulink to analyze the rotor vibration characteristics and the vibration reduction effect of the MRF damper.Based on the numerical simulation analysis,an optimizing control strategy using pattern search method was proposed and designed.The control system was constructed on a test rotor bench and experiment validations on the effectiveness of the proposed control strategy were conducted.Experimental results show that rotor vibration caused by unbalance can be well controlled whether in resonance region(70%)or in non-resonance region(30%).An irregular vibration amplitude jump can be suppressed with the optimization strategy.Furthermore,it is found that the rapidity of transient response and efficiency of optimizing technique depend on the pattern search step.The presented strategies and control system can be extended to multi-span(more than two or three spans)rotor system.It provides a powerful technical support for the extension and application in target and control for shafting vibration.

Optimizing control of a two-span rotor system with magnetorheological fluid dampers

A control system aims at vibration reduction in a two-span rotor system with two shear mode magnetorheological （MRF） dampers is designed. A finite element model of the MRF damper- rotor system is built and used to analyze the rotor vibration characteristics. Based on Hooke and Jeeves algorithm and the numerical simulation analysis, an optimal appropriate controller is proposed and designed. Experimental results show that rotor vibration caused by unbalance is well controlled （ first critical speed region 37% , second critical speed region 42% ）. To reflect advantages of optimi- zing strategy presented and validate the intelligent optimization control technology, detailed experi- ments were developed on a two-span rotor-vibration-control platform. The influence on accuracy, rapidity and stability of optimizing control for rotor vibration are analyzed. It provides a powerful technical support for the extension and application in target and control for shafting vibration.

Vibration Control of Jacket Platforms with Magnetorheological Damper and Experimental Validation~

Magnetorheological （MR） dampers have been proposed to control the vibration of offshore platforms in this paper. The semi-active control strategy based on fuzzy control algorithm was adopted to determine the optimal output control force based on the responses of jacket platforms. A typical jacket platform in Mexico Gulf was selected as the numerical example to investigate the effectiveness of the proposed control method. Furthermore, a model experiment was performed to validate the results of the numerical simulation. The experimental model of the jacket platform was designed based on dynamical similarity criterion by the scale of 1：50. Both of the numerical and experimental results show that the semi-active control system with the MR damper can reduce vibrations of jacket platforms effectively and at the same time the control effect is stable.

Viscoelastic plastic continuous physical model of a magnetorheological damper applied in the high speed train

In the preliminary design stage of high-speed train smart suspension,a simple,yet accurate magnetorheological(MR)damper model whose parameters have clear physical meaning is needed.Based on the working mechanism analysis and the dynamic behavior study of the MR damper,a new consecutive viscoelastic plastics(VEP)model is proposed.A methodology to find the parameters of the proposed model directly has been proposed.The comparison with experimental results indicates that the proposed model could adequately characterize the intrinsic nonlinear behavior of the MR damper,including the hysteretic behavior,roll-off phenomenon,and the variation of the hysteresis width in terms of the frequency and magnitude of excitation.The results of experimental testing prove that the accuracy of the proposed model is higher than that of the phenomenological model while only containing four undetermined parameters with clear physical meaning.Moreover,based on the proposed VEP model,a nonlinear stiffness VEP(nkVEP)model is developed with higher precision in the hysteretic region.The nkVEP model,which can reproduce the behavior of the damper with fluctuating input current,is developed.The proposed model could predict accurately the response of the MR damper in a wide range of frequency and displacement.

First order sensitivity analysis of magnetorheological fluid damper based on the output damping force

With many features,the magnetorheological fluid( MRF) damper is widely applied in the semiactive vibration control system. And sensitivity analysis is an important method to study the influence weight of various parameters on damping force characteristics. A mathematical model of the output damping force on the MRF damper is established by the mechanism modeling method,a first order output sensitivity equation is deduced and the expression of the first order output sensitivity function is obtained. The first-order sensitivity functions of ten design parameters are solved,and the influence degree of system parameters change on the output force of MRF damper is analyzed by comparing the sensitivity index of the parameters. Two sensitivities of vibration velocity and control current are obtained through experiment to prove the other parameters sensitivity analysis conclusion by analogy verification,which provides guidance for the structure optimization design of MRF damper.

Study on semi-active control of mega-sub controlled structure by MR damper subject to random wind loads

The recently proposed mega-sub controlled structure （MSCS）, a new type of structure associated with the design and construction of super-tall buildings, has attracted the attention of designers for use in enhancing the control effectiveness in mega-frame buildings. In this paper, a dynamic equation and method to assemble parameter matrixes for a mega-sub controlled structure under random wind loads is presented. Semi-active control using magnetorheological dampers for the MSCS under random wind loads is investigated, and is compared with a corresponding system without dampers. A parametric study of the relative stiffness ratio and relative mass ratio between the mega-frame and the substructures, as well as the additional column stiffness ratio that influences the response control effectiveness of the MSCS, is discussed. The studies reveal, for the first time, that different control mechanisms exist. The results indicate that the proposed structure employing semi-active control can offer an effective control mechanism. Guidelines for selecting parameters are provided based on the analytical study.

Semi-active model predictive control for 3rd generation benchmark problem using smart dampers

A semi-active strategy for model predictive control （MPC）, in which magneto-rheological dampers are used as an actuator, is presented for use in reducing the nonlinear seismic response of high-rise buildings. A multi-step predictive model is developed to estimate the seismic performance of high-rise buildings, taking into account of the effects of nonlinearity, time-variability, model mismatching, and disturbances and uncertainty of controlled system parameters by the predicted error feedback in the multi-step predictive model. Based on the predictive model, a Kalman-Bucy observer suitable for semi-active strategy is proposed to estimate the state vector from the acceleration and semi-active control force feedback. The main advantage of the proposed strategy is its inherent stability, simplicity, on-line real-time operation, and the ability to handle nonlinearity, uncertainty, and time-variability properties of structures. Numerical simulation of the nonlinear seismic responses of a controlled 20-story benchmark building is carried out, and the simulation results are compared to those of other control systems. The results show that the developed semi-active strategy can efficiently reduce the nonlinear seismic response of high-rise buildings.