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Publication
Model-based prototyping of a controller for MR actuators
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Advisor(s)
Abstract(s)
Magnetorheological (MR) actuators are semi-active
devices that leverage the smart properties of the MR fluids
whose rheology can be controlled by an external magnetic field.
Within the presence of an external magnetic field, the magnetic
domains of the MR fluid align with the external field, which
results in the yield stress induced in the fluid, thus undergoing
a transition from a fluid to a semi-solid. Thus, the control
challenge for MR actuators is in controlling the rheology of
the material by magnetic flux. Typically the control system is
based on the coil’s current feedback. However, this approach
based purely on the current control is not optimal since it is
the magnetic stimuli that directly controls the material’s yield
stress and not the current. Thus, this work investigates the
capability of a flux controller in handling the non-linearities
of the actuator, including magnetic hysteresis. A model of an
MR actuator that incorporates the magnetic hysteresis and the
control coil dynamics is developed. The flux controller is tuned to
handle the addition of the hysteresis effect. The obtained results
show that the chosen control topology is very effective for the
considered flux commands inputs.
Description
Keywords
Magnetorheological actuator Hysteresis Dynamics Flux control Current control
Pedagogical Context
Citation
Mendes, Gabriel; Gołdasz, Janusz; Ferreira, Ângela P. (2023). Model-based prototyping of a controller for MR actuators. In 24th International Carpathian Control Conference (ICCC). 12-14 June 2023, Miskolc-Szilvásvárad. p. 93-98. ISBN 979-8-3503-1022-1
Publisher
IEEE