Experimental Study on Inverse Model-Based Force Tracking Control of MR Damper

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.

Semi-Active Control of Horizontal Vibrations for Mine Hoisting Containers Using Fuzzy Skyhook Control Strategy

“…The hyperbolic tangent model of magnetorheological dampers used in this paper was cited from Wei Shuli's research results [27]. The parameters of the magnetorheological damper were shown in Table 3, where a 1 , a 2 and k are considered to be constant values, then f y , f 0 and c are different functions of the coil current.…”

Magnetorheological damper temperature characteristics and control-oriented temperature-revised model

“…The underlying model is required to calculate the driving current with demanding force in practical control. The inverse model can be obtained by directly inverting the original model [27][28][29] or building a neural network [16]. Since the nonlinear hyperbolic tangent function cannot be directly inverted, equation ( 11) needs some simplifications and assumptions.…”