Design and high-power testing of offline conditioning cavity for CiADS RFQ high-power coupler

To validate the design rationality of the power coupler for the RFQ cavity and minimize cavity contamination,we designed a low-loss offline conditioning cavity and conducted high-power testing.This offline cavity features two coupling ports and two tuners,operating at a frequency of 162.5 MHz with a tuning range of 3.2 MHz.Adjusting the installation angle of the coupling ring and the insertion depth of the tuner helps minimize cavity losses.We performed electromagnetic structural and multiphysics simulations,revealing a minimal theoretical power loss of 4.3%.However,when the cavity frequency varied by110 kHz,theoretical power losses increased to10%,necessitating constant tuner adjustments during conditioning.Multiphysics simulations indicated that increased cavity temperature did not affect frequency variation.Upon completion of the offline high-power conditioning platform,we measured the transmission performance,revealing a power loss of 6.3%,exceeding the theoretical calculation.Conditioning utilized efficient automatic range scanning and standing wave resonant methods.To fully condition the power coupler,a 15°phase difference between two standing wave points in the condition-ing system was necessary.Notably,the maximum continuous wave power surpassed 20 kW,exceeding the expected target.

Properties of magneto-rheological fluids based on amorphous micro-particles

To improve the magneto-rheological (MR) properties of magneto-rheological fluids, self-made amorphous alloy particles, the composition of which was Fe76Cr2Mo2Sn2P10B2C2Si4, were used as the disperse phase to replace traditional carbonyl iron (CI) particles to prepare amorphous based magneto-rheological fluid (AMRF). Soft magnetic properties and densities of the amorphous particles and the CI particles were tested and compared. The results indicate the amorphous particles present a lower density but larger magnetization intensity and larger permeability at lower field levels. Properties of the AMRF with 20% particles in volume fraction were tested and compared with the CI based MR fluid (CMRF). The AMRF presents a saturation yield stress of 41 kPa at ~227 kA/m and a sedimentation ratio of 80%. The results indicate the magneto-rheological fluid based on amorphous micro-particles has better MR properties and sedimentation stability than that based on CI particles at lower field levels (0-200 kA/m).

Novel magneto-rheological fluid damper for passive force/torque feedback

The damper is capable of providing a continuously variable dampering force/torque in response to a magnetic field. It consists of an upside cap and an underside cap with a rotor located between them, the magneto-rheological （MR） fluid is filled into the gaps between the rotor and the caps. When the viscosity of the MR fluid increases under the influence of the magnetic field, the movement of the rotor will be resisted. The output torque is made up of the torque caused by the magnetic field, the torque caused by the plastic viscosity of the MR fluid, and the torque caused by the coulomb friction. The viscous torque can be calculated by a simple method and the frictional torque can be obtained by experiments. The torque dependent on the magnetic field is obtained by electromagnetic finite dement analysis. Experiments are done on the damper prototype and the validity of the design is verified.

Skyhook-based Semi-active Control of Full-vehicle Suspension with Magneto-rheological Dampers

The control study of vehicle semi-active suspension with magneto-rheological (MR) dampers has been attracted much attention internationally. However, a simple, real time and easy implementing semi-active controller has not been proposed for the MR full-vehicle suspension system, and a systematic analysis method has not been established for evaluating the multi-objective suspension performances of MR full-vehicle vertical, pitch and roll motions. For this purpose, according to the 7-degree of freedom (DOF) fullvehicle dynamic system, a generalized 7-DOF MR and passive full-vehicle dynamic model is set up by employing the modified Boucwen hysteretic force-velocity (F-v) model of the MR damper. A semi-active controller is synthesized to realize independent control of the four MR quarter-vehicle sub-suspension systems in the full-vehicle, which is on the basis of the proposed modified skyhook damping scheme of MR quarter-vehicle sub-suspension system. The proposed controller can greatly simplify the controller design complexity of MR full-vehicle suspension and has merits of easy implementation in real application, wherein only absolute velocities of sprung and unsprung masses with reference to the road surface are required to measure in real time when the vehicle is moving. Furthermore, a systematic analysis method is established for evaluating the vertical, pitch and roll motion properties of both MR and passive full-vehicle suspensions in a more realistic road excitation manner, in which the harmonic, rounded pulse and real road measured random signals with delay time are employed as different road excitations inserted on the front and rear two wheels, by considering the distance between front and rear wheels in full-vehicle. The above excitations with different amplitudes are further employed as the road excitations inserted on left and right two wheels for evaluating the roll motion property. The multi-objective suspension performances of ride comfort and handling safety of the proposed MR full-vehicle suspension are thus thoroughly evaluated by comparing with those of the passive full-vehicle suspension. The results show that the proposed controller can ideally improve multiobjective suspension performances of the ride comfort and handling safety. The proposed harmonic, rounded pulse and real road measured random signals with delay time and asymmetric amplitudes are suitable for accurately analyzing the vertical, pitch and roll motion properties of MR full-vehicle suspension system in a more realistic road excitation manner. This research has important theoretical significance for improving application study on the intelligent MR semi-active suspension.

Semi-active Sliding Mode Control of Vehicle Suspension with Magneto-rheological Damper

The vehicle semi-active suspension with magneto-theological damper（MRD） has been a hot topic since this decade, in which the robust control synthesis considering load variation is a challenging task. In this paper, a new semi-active controller based upon the inverse model and sliding mode control （SMC） strategies is proposed for the quarter-vehicle suspension with the magneto-rheological （MR） damper, wherein an ideal skyhook suspension is employed as the control reference model and the vehicle sprung mass is considered as an uncertain parameter. According to the asymptotical stability of SMC, the dynamic errors between the plant and reference systems are used to derive the control damping force acquired by the MR quarter-vehicle suspension system. The proposed modified Bouc-wen hysteretic force-velocity （F-v） model and its inverse model of MR damper, as well as the proposed continuous modulation （CM） filtering algorithm without phase shift are employed to convert the control damping force into the direct drive current of the MR damper. Moreover, the proposed semi-active sliding mode controller （SSMC）-based MR quarter-vehicle suspension is systematically evaluated through comparing the time and frequency domain responses of the sprung and unsprung mass displacement accelerations, suspension travel and the tire dynamic force with those of the passive quarter-vehicle suspension, under three kinds of varied amplitude harmonic, rounded pulse and real-road measured random excitations. The evaluation results illustrate that the proposed SSMC can greatly suppress the vehicle suspension vibration due to uncertainty of the load, and thus improve the ride comfort and handling safety. The study establishes a solid theoretical foundation as the universal control scheme for the adaptive semi-active control of the MR full-vehicle suspension decoupled into four MR quarter-vehicle sub-suspension systems.

Fuzzy Hybrid Control of Vibration Attitude of Full Car via Magneto-rheological Suspensions

A magneto-rheological（MR） semi-active suspension system with the controllable damping forces has received more attention in reducing the vibration of a vehicle. However, many control strategies only discussed one or two vibration states of the vehicle based on a quarter-car model or a half vehicle model via MR suspensions. They cannot provide a satisfying whole-vehicle performance on a road test. Hence, a full car vibration model via an MR suspension system is proposed. To reduce the heave, pitch and roll motion of the vehicle body and the vertical vibration of four wheels, a fuzzy hybrid controller for vibration attitude of full car via MR suspensions is proposed. First, a skyhook-fuzzy control scheme is designed to reduce the heave, roll and pitch motion of the vehicle body. Second, a revised ground hook control strategy is adopted to decrease the vertical vibration of the wheels. Finally, a hybrid control scheme based on a fuzzy reasoning method is proposed to tune the hybrid damping parameter, which is suitable for coordination the attitude of the vehicle body and the wheels. A test and control system for the vibration attitude of full car is set up. It is implemented on a car equipped with four MR suspensions. The results on random highway and rough road indicate that the fuzzy hybrid controller can decrease the vibration accelerations of the vehicle body and the wheels to 65%-80% and 80%-90%, respectively. It reduces the automotive vibrations of heave, roll and pitch more effectively than a passive suspension and an MR suspension with a traditional hybrid control scheme so that it achieves better ride comfort and road holding concurrently. This paper proposes a new fuzzy hybrid control（FHC） method for reducing vibration attitude of full car via MR suspensions and develops a road test to evaluate the FHC.

SEMI-ACTIVE CONTROL OF VEHICLE SUSPENSION WITH MAGNETO-RHEOLOGICAL DAMPERS:PART Ⅰ——CONTROLLER SYNTHESIS AND EVALUATION

A modified skyhook-based semi-active controller is proposed for implementing an asymmetric control suspension design with symmetric magneto-rheological （MR） dampers. The controller is formulated in current form, which is modulated by integrating a continuous modulation and an asymmetric damping force generation algorithms, so as to effectively minimize switching and hysteretic effects from the MR-damper. The proposed controller is implemented with a quarter-vehicle MR-suspension model, and its relative response characteristics are thus evaluated in terms of defined performance measures under varying amplitude harmonic, rounded pulse and random excitations. The sensitivity of the semi-active suspension performance to variations in controller parameters is thoroughly evaluated. The results illustrate that the proposed skyhook-based asymmetric semi-active MR-suspension controller has superior robustness on the system parameter variations, and can achieve desirable multi-objective suspension performance.

SEMI-ACTIVE CONTROL OF VEHICLE SUSPENSION WITH MAGNETO-RHEOLOGICAL DAMPERS PARTⅡ——EVALUATION OF SUSPENSION PERFORMANCE

The design and analysis of an intelligent vehicle suspension with MR dampers should address hybrid semi-active control goals, such as rejection of current-switching discontinuity and MR-damper hysteresis, asymmetric damping from the symmetric MR-damper design, robustness on the vehicle operation parameter uncertainties and consideration of essential multiple suspension goals. Following the proposed skyhook-based asymmetric semi-active controller （Part I ） for achieving the above goals, herein, a set of suspension performance measures and three kinds of varying amplitude harmonic, rounded pulse and really measured random excitations are systematically defined, and the sensitivity of quarter-vehicle MR-suspension performance to variations in operating conditions is thoroughly analyzed. The results illustrate that the proposed skyhook-based semi-active MR-suspension in the asymmetric mode yields relatively superior dynamic responses to meet the multiple suspension performances of ride, rattle space, road-holding and dynamic tire force transmitted to the pavement, and has desirable robustness on variations in operating conditions of vehicle load and speed and the road roughness.

The Knee Joint Design and Control of Above-knee Intelligent Bionic Leg Based on Magneto-rheological Damper

The above-knee intelligent bionic leg is very helpful to amputees in the area of rehabilitation medicine. This paper first introduces the functional demand of the above-knee prosthesis design. Then, the advantages of the four-bar link mechanism and the magneto-rheological （MR） damper are analyzed in detail. The fixed position of the MR damper is optimized and a virtual prototype of knee joint is given. In the end, the system model of kinematics, dynamics, and controller are given and a control experiment is performed. The control experiment indicates that the intelligent bionic leg with multi-axis knee is able to realize gait tracking of the amputee＇s healthy leg based on semi-active control of the MR damper.

A new variable stiffness absorber based on magneto-rheological elastomer

A new adaptive variable stiffness absorber was proposed based on a smart material, magnetorheological elastomer (MRE), and its vibration control performance was investigated. Before developing the proposed absorber, the MREs were firstly fabricated by curing a mixture of 704 silicon rubber, carbonyl iron particles and a small amount of silicone oil under an external magnetic field. Then the mechanical properties of the fabricated MREs were measured. On the basis of the measured mechanical characteristics, the MRE absorber was developed and its working characteristics were also tested under various input currents and excited frequencies. Finally, the control responses of a two-degree-of-freedom dynamic system with a MRE absorber were presented under a chirp input and used to evaluate the effectiveness of the MRE absorber.

Magneto-rheological elastomer (MRE) based composite structures for micro-vibration control

Magneto-rheological elastomers （MILEs） are used to construct composite structures for micro-vibration control of equipment under stochastic support-motion excitations. The dynamic behavior of MREs as a smart viscoelastic material is characterized by a complex modulus dependent on vibration frequency and controllable by external magnetic fields. Frequency-domain solution methods for stochastic micro-vibration response analysis of the MRE-based structural systems are developed to derive the system frequency-response function matrices and the expressions of the velocity response spectrum. With these equations, the root-mean-square （RMS） velocity responses in terms of the one-third octave frequency band spectrum can be calculated. Further, the optimization problem of the complex moduli of the MRE cores is defined by minimizing the velocity response spectra and the RMS velocity responses through altering the applied magnetic fields. Simulation results illustrate the influences of MRE parameters on the RMS velocity responses and the high response reduction capacities of the MRE-based structures. In addition, the developed frequency-domain analysis methods are applicable to sandwich beam structures with arbitrary cores characterized by complex shear moduli under stochastic excitations described by power spectral density functions, and are valid for a wide frequency range.

Hysteresis-induced bifurcation and chaos in a magneto-rheological suspension system under external excitation

The magneto-rheological damper （MRD） is a promising device used in vehicle semi-active suspension systems, for its continuous adjustable damping output. However, the innate nonlinear hysteresis characteristic of MRD may cause the nonlinear behaviors. In this work, a two-degree-of-freedom （2-DOF） MR suspension system was established first, by employing the modified Bouc-Wen force-velocity （F-v） hysteretic model. The nonlinear dynamic response of the system was investigated under the external excitation of single-frequency harmonic and bandwidth-limited stochastic road surface. The largest Lyapunov exponent （LLE） was used to detect the chaotic area of the frequency and amplitude of harmonic excitation, and the bifurcation diagrams, time histories, phase portraits, and power spectrum density （PSD） diagrams were used to reveal the dynamic evolution process in detail. Moreover, the LLE and Kolmogorov entropy （K entropy） were used to identify whether the system response was random or chaotic under stochastic road surface. The results demonstrated that the complex dynamical behaviors occur under different external excitation conditions. The oscillating mechanism of alternating periodic oscillations, quasi-periodic oscillations, and chaotic oscillations was observed in detail. The chaotic regions revealed that chaotic motions may appear in conditions of mid-low frequency and large amplitude, as well as small amplitude and all frequency. The obtained parameter regions where the chaotic motions may appear are useful for design of structural parameters of the vibration isolation, and the optimization of control strategy for MR suspension system.

SEMI-ACTIVE CONTROL OF VEHICLE SUSPENSION WITH MAGNETO-RHEOLOGICAL DAMPERS:PART III—EXPERIMENTAL VALIDATION

A hardware-in-the-loop （HIL） test and simulation platform is developed in the laboratory, so as to validate the performance characteristics of the proposed skyhook-based asymmetric semi-active controller in Part I, and examine the validity of the proposed MR-damper model in a system surrounding. A real-time monitor is designed to assess and monitor the responses of the quarter-vehicle model in the HIL platform, and to select the excitation, controller synthesis, and the output displays. A drive current circuit hardware employing PID feedback technique is developed to compensate for the time delays from the servo-controller and drive current circuit, in which a small resistance is integrated in the current amplifier circuit to provide the feedback signal. The experiments were performed to measure the responses of the quarter-vehicle MR-suspension models with fixed current and the proposed semi-active MR-damping variations, under harmonic, rounded pulse and random road excitations. The measured data were compared with the corresponding model results to examine the model and controller validity, and revealed generally good agreements in the model and tested results and very little sensitivity of the tested responses to variations in the sprung mass. The HIL test results validate the effectiveness of the proposed skyhook-based semi-active asymmetric controller and its high robustness against the vehicle load variations in view of the intelligent vehicle suspension design.

Delay-dependent H_(2)/H_(∞) Control for Vehicle Magneto-rheological Semi-active Suspension

The exist researches of the magneto-rheological semi-active suspension(MSAS) control mainly focus on the design of control laws,which aim at obtaining an optimal control strategy to improve the ride comfort and handling stability.In the controller design,the stability of the MSAS system cannot be confirmed owing to the control input time delay considered little.In this paper,a quarter vehicle MSAS model with time-delay is built.Therefore,through formulating the sprung mass acceleration suitably as the optimization object,suspension deflection and tyre dynamic load and coulomb damping force as the constraint objects,with considering the control input time-delay,a delay-dependent state feedback H2/H∞ controller is designed.According to Lyapunov-Krasovskii functional theory,the sufficient conditions for asymptotic stability and the existence of delay-dependent H2/H∞ controller are obtained,and the controller design is transformed into the minimization problem for linear function through linear matrix inequality(LMI).Random road excitation simulations and experiments are carried out.The simulation and experiment results show that the design can preserve the closed-loop stability and achieve the performances for MSAS system in spite of the existence of the control input time-delay.The present study can provide an important basis and method for research on time-delay problem in MSAS and other chassis subsystems.

Reciprocating friction characteristics of magneto-rheological fluid for aluminum under magnetic field

Reciprocating friction characteristics of magneto-rheological （MR） fluid for aluminum under a magnetic field at different loads and oscillation frequencies were studied when MR fluids were worked in reciprocating motions such as in dampers for automobiles, and surface polishing and other finishing. Thus, experiments were carried out to evaluate the reciprocating friction characteristic of MR fluid for aluminum. The obtained data from the tests are sorted in groups depending on various loads and oscillation frequencies, to analyze the relationship between test condition and travel cycle. Surfaces of specimens were compared by measuring the surface roughness and observing the surface images. The performance of reciprocating friction characteristics of MR fluid for aluminum is evaluated through analyzing the experiment results.

Influence of quick release valve on braking performance and coupler force of heavy haul train

We establish a simulation model based on the theory of air flow to analyze the accelerated release effect of the quick release valve inside the air brake control valve.In addition, the combined simulation system of train air brake system and longitudinal train dynamics is used to analyze how the parameters of the quick release valve in the 120/120–1 brake control valve affect the propagation characteristics of the train brake pipe pressure wave, the release action range of the accelerated brake, and the longitudinal coupler force for a 20,000-ton heavy haul train on the section of the Datong–Qinhuangdao Railway. The results show that the quick release valve can effectively accelerate the rising speed of the train brake pipe pressure during the initial release, as the accelerated release effect is evident before the train brake pipe pressure reaches582 k Pa. The quick release valve can effectively accelerate the release of the rear cars, reducing the longitudinal coupler force impact due to time delay of the release process. The quick release valve can effectively reduce the tensile coupler force in the train by as much as 20% in certain cases.

Semi-active control of a vehicle suspension using magneto-rheological damper

A semi-active magneto-rheological （MR） damper was experimentally investigated and compared to an original equipment manufacturer （OEM） damper for a passenger vehicle, by using a quarter car models. A full-scale two-degree-of-freedom quarter car experimental set-up was constructed to study the vehicle suspension. On-off skyhook controller and Fuzzy-Lyapunov skyhook controller （FLSC） were employed to control the input current for MR damper so as to achieve the desired damping force. Tests were done to evaluate the ability of MR damper for controlling vehicle vibration. Test results show that the semi-active MR vehicle suspension vibration control system is feasible. In comparison with OEM damper, on-off and FLSC controlled MR dampers can effectively reduce the acceleration of vehicle sprtmg mass by about 15% and 24%, respectively.

Experimental Studies on High-Frequency Performance of the Inverse Control Magneto-Rheological Damper

Severe vibration of underground structures may be induced under blast loads. According to the characteristics of the explosion-induced ground shock wave, a new-type damper, inverse control magneto-rheological（MR） damper was designed to control the vibration, The high-frequency performance test of the MR damper was carried out on the small shaking table. It is shown that the performance can be modeled by use of the modified Bouc-Wen model, and the Parameters of the model keep stable in the range of 15--50 Hz.

The influence of AAR coupler features on estimation of in-train forces

Inadequate management of large in-train forces transferred through coupler systems of a railway train leads to running and structural failures of vehicles.Understanding these phenomena and their mitigation requires accurate estimation of relative motions and in-train forces between vehicle bodies.Previous numerical studies have ignored inertia of coupling elements and the impacts between couplers.Thus,existing models underestimate the additional dynamic variations in in-train forces.Detailed multi-body dynamic models of two AAR(Association of American Railroads)coupler systems used in passenger and freight trains are developed,incorporating coupler inertia and various slacks.Due to the modeling and simulation com-plexities involved in a full train model,with such details of coupler system,actual longitudinal train dynamics is not studied.A system comprising only two coupling units,inter-connecting two consecutive vehicles,is modeled.Considered system has been fixed at one end and an excitation force is applied at the other end,to mimic a relative force transmission through combined coupler system.Simulation results obtained from this representative system show that,noticeable influence in in-train forces are expected due to the combined effect of inertia of couplers and intermittent impacts between couplers in the slack regime.Maximum amplitude of longitudinal reaction force,transferred from draft gear housing to vehicle body,is expected to be significantly higher than that predicted using existing models of coupler system.It is also observed that the couplers and knuckles are subjected to significant longitudinal and lateral contact forces,due to the intermittent impacts between couplers.Thus,accurate estimation of draft gear reaction force and impact forces between couplers are essential to design vehicle and coupler components,respectively.

A phenomenological model of the fundamental power coupler for a superconducting resonator

In this study,a phenomenological model of the radio frequency(RF)behavior of a superconducting cavity fundamental power coupler is proposed by analyzing the simulation results of a transient beam-loading process in an extremely overcoupled superconducting cavity.Using this phenomenological model,the calculation of the transient reflected power from a superconducting cavity under beam loading can be mathematically simplified to algebraic operations without solving the differential equation governing the transient beam-loading process,while maintaining the calculation accuracy.Moreover,this phenomenological model can facilitate an intuitive understanding of the significant surge in the time evolution of reflected power from a superconducting cavity in certain beam-loading processes.The validity of this phenomenological model was carefully examined in various beam-loading processes and cavity conditions,and the method based on this phenomenological model was utilized in the transient RF analysis of the superconducting cavity system of the CAFe Linac,achieving satisfactory results.