International Journal of Automotive Technology

, Volume 19, Issue 4, pp 677–685 | Cite as

Comparison of Dynamic Models of Mr Damper for Hardware in the Loop Simulation of Large-Sized Buses

  • Seokcheon Jeon
  • Jinseong Kim
  • Sun Woo Jin
  • Kyuyeol Koak
  • Eun Jun Rhee
  • Chibum Lee
  • Yeong-il Park


The present study has focused on the comparison of MR damper dynamic models for the purpose of hardware in the loop simulation. A vehicle dynamic model for large-sized bus and a control logic for MR damper was built. Two typical MR damper models, viz. Bouc-Wen and hyperbolic tangent model have been considered in this study and the advantages and disadvantages of each model on the aspect of HILS system is discussed. We discussed the limitations of each model based on the analysis of the vehicle dynamic simulation. The results showed that the existing models are not suitable for HILS system. We proposed the modified hyperbolic tangent model by adopting low-pass filters. The results from the simulation showed the advantages of the modified model which were validated through HILS system.

Key Words

Magneto-rheological damper Semi-active suspension Dynamic modeling Large size bus Vibration control 



damping force


damper stroke displacement


hysteresis coefficient of Bouc-wen model


hysteresis displacement

βb, γb, n, A

parameter of hysteresis shape of Bouc-wen model

a1, a2, p

parameter of damping coefficient function






measurement bias of damping force


hysteresis coefficient of Hyperbolic tangent model

βh, γh

parameter of hysteresis shape of Hyperbolic tangent model


damping coefficient


time step size


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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Seokcheon Jeon
    • 1
  • Jinseong Kim
    • 1
  • Sun Woo Jin
    • 1
  • Kyuyeol Koak
    • 2
  • Eun Jun Rhee
    • 2
  • Chibum Lee
    • 1
  • Yeong-il Park
    • 1
  1. 1.Department of Mechanical System Design EngineeringSeoul National University of Science and TechnologySeoulKorea
  2. 2.Mechanical Engineering TeamHyundai Rotem CompanyGyeonggiKorea

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