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Efficient dynamic modelling and characterization of a magnetorheological damper

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Abstract

The present work is about the dynamic modelling and the experimental testing of magnetorheological (MR) dampers, especially at low frequency. The main improvement of this work over former models is the identification of dynamic parameters which are independent of the working conditions and vary only as a function of the current. A simple model is built on the basis of the literature and of a systematic experimental campaign, with the aim of simplifying the effort in retrieving the parameters and in controlling the system. The excitation current is introduced in the model as a variable, not only reducing the amount of test needed to assess the parameters, but also obtaining a faster model useful in motion control. A second order polynomial relationship between the applied current and the three variable parameters is found, showing a saturation effect at high currents. A verification test shows the reliability and the performance of the proposed model.

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Abbreviations

A :

parameter related to hysteresis curve amplitude

c 0 :

parameter related to the damping at low speed

c 1 :

parameter related to the damping at high speed

d :

displacement of the damper rod

F :

damper force

I :

applied current

k 0 :

parameter related to the elasticity of the Bouc-Wen sub-model

k 1 :

parameter related to the elastic force of the accumulator

n :

parameter related to the evolution of the hysteresis force

v :

speed of the damper rod

x :

displacement of the damper

x 0 :

preload of the system

y :

relative displacement of the Bouc-Wen sub-model

z :

evolutionary variable of the Bouc-Wen block

α :

parameter related to the hysteresis force

β :

parameter related to the smoothness of the hysteresis curve

γ :

parameter related to the hysteresis shape

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Authors and Affiliations

  1. Department of Engineering Sciences and Methods, University of Modena and Reggio Emilia, Reggio Emilia, 42122, Italy

    A. Spaggiari & E. Dragoni

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  1. A. Spaggiari
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  2. E. Dragoni
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Correspondence to A. Spaggiari.

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Spaggiari, A., Dragoni, E. Efficient dynamic modelling and characterization of a magnetorheological damper. Meccanica 47, 2041–2054 (2012). https://doi.org/10.1007/s11012-012-9573-y

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