Abstract
An explicit inverse model of a magnetorheological (MR) damper is established to track the desired force in real time through experimental analysis and mathematical modeling. An algebraic hyperbolic tangent model is used to present the nonlinear behavior of MR dampers to avoid dynamic evolution due to effortless invertibility. A characteristic method is utilized to obtain the initial parameters of this algebraic hyperbolic tangent model; subsequently, the main parameters of the algebraic model are selected as quadratic functions of the applied current such that the closed-form expressions of the inverse model can be obtained. Then, the response time including communication and electromagnetic interactions in the experiment is investigated and modeled. By combining the force-current and electromagnetic models, an inverse model-based force tracking scheme is proposed. A series of validated tests are performed to study the force tracking performance. The proposed model exhibits high fidelity for tracking variable desired forces in experiments. Further analysis on force tracking errors demonstrates the mitigation of errors in various current fluctuating methods.
Highlights
A magnetorheological (MR) damper integrates a special fluid that contains polarizable particles into an ordinary fluid damper. e yield stress of the fluid can be changed significantly by adjusting the magnitude of an applied magnetic field produced by the coil
E main operation of the MR damper in semiactive control is the determination of the command current according to an appropriate control algorithm [1,2,3]
An inverse model-based force tracking scheme that could track the desired force with different viscosities and stiffnesses was presented. e algebraic hyperbolic tangent model was utilized to establish a force-current model, and a methodology was developed to evaluate the characteristic parameters that defined the model for a constant current input, which considered the individual effect of each term of the model
Summary
A magnetorheological (MR) damper integrates a special fluid that contains polarizable particles into an ordinary fluid damper. e yield stress of the fluid can be changed significantly by adjusting the magnitude of an applied magnetic field produced by the coil. The aforementioned NN models with history information inputs regarding current or voltage required an additional sensor to gather the current or voltage in real time, which increased the architecture size and the instrumentation cost of a control system and computing time Unlike those methods, Bani-Hani and Sheban [22] proposed an inverse model without history voltage input to replicate the inverse dynamics of an MR damper to track the desired force generated from the LQG control algorithm, in which the predicted voltages are approximately the target voltages. A static hysteresis model [28] in algebraic expressions has been used to describe the dynamic behavior of MR dampers for avoiding intractable internal nonlinear dynamics Based on this model, a secondorder sliding mode controller has been developed to determine the applied current via the time rate of the current change. A detailed analysis is provided to distinguish the source of force tracking errors
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