Abstract
Disc-type magnetorheological (MR) dampers are controllable semi-active actuators. TheMR fluid within these devices is operated in shear mode, instead of the more frequentlyencountered flow mode. The present paper develops a model for this controllable devicebased on the measured behavior of an MR fluid sample deformed in a rheometer underoperating conditions similar to those found within the damper. It is observed that for theseconditions the behavior of the MR fluid is governed by friction. To capture the stick-slipmotion of the MR fluid, the damper model is based on the popular LuGre friction modelwith additional parameters to account for the geometry of the fluid body. The model alsoincludes the response dynamics due to the aggregation and radial migration of particles inthe MR fluid body. These dynamics are separated into three first-order elements with timeconstants in the order of milliseconds, seconds and minutes. The model is validatedwith measurements on a cable–damper setup subjected to modal excitations.
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