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

Title
Accurate torque control of a bi-directional magneto-rheological actuator considering hysteresis and friction effects
Authors
최승복
Issue Date
2013
Publisher
SMART MATERIALS AND STRUCTURES
Series/Report no.
SMART MATERIALS AND STRUCTURES; vol.22 no.5 startpage 1/055002 endpage 11/055002
Abstract
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.
URI
http://dspace.inha.ac.kr/handle/10505/31254
ISSN
0964-1726
Appears in Collections:
College of Engineering(공과대학) > Mechanical Engineering(기계공학) > Journal Papers, Reports(기계공학 논문, 보고서)
Files in This Item:
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