Accurate torque control of a bi-directional magneto-rheological actuator considering hysteresis and friction effects

作者：Phuong Bac Nguyen^*; Choi Seung Bok

来源：Smart Materials and Structures, 2013, 22(5): 055002.

DOI：10.1088/0964-1726/22/5/055002

This paper presents a novel type of magneto-rheological (MR) actuator called a bi-directional magneto-rheological (BMR) actuator and accurate torque control results considering both hysteresis and friction compensation. The induced torque of this actuator varies from negative to positive values. As a result, it can work as either a brake or a clutch depending on the scheme of current input. In our work, the configuration of the actuator as well as its driving system is presented first. Subsequently, a congruency hysteresis based (CBH) model to take account of the effect of the hysteresis is proposed. After that, a compensator based on this model is developed. In addition, the effect of dry friction, which exists inherently with MR actuators in general, is also considered. In order to assess the effectiveness of the hysteresis compensator, several experiments on modeling and control of the actuator with different waveforms are carried out.

• 出版日期2013-5