Mathematical Modeling and Simulation of SAS System With Magnetorheological (MR) Damper
Mathematical Modeling and Simulation of SAS System With Magnetorheological (MR) Damper
Mathematical Modeling and Simulation of SAS System With Magnetorheological (MR) Damper
Slide 1
Overview
• Vibration isolation
• MR dampers and SAS test rig
• Mathematical modeling and stability
• MR damper models
• Vibration response analysis
• Experimental comparison
• Conclusion
Slide 2
Vibration Isolation
• In most mechanical systems the excess
energy that is created becomes vibration
• Vibration leads to
• excessive wear of bearings
• formation of cracks
• loosening of fasteners
• structural and mechanical failures
• frequent and costly maintenance of machines
• discomfort to humans
• A vibration isolation system is needed to
reduce vibrations
Slide 3
Isolation systems
Slide 4
Magneto-Rheological (MR Dampers)
MR Fluid
MR fluid is composed of oil and varying percentages of iron particles that
have been coated with an anti-coagulant material
a.Valve mode
b.Shear mode
c.Squeeze mode
Slide 6
MR Rotary damper and SAS test rig.
Slide 7
Mathematical modeling of the
SAS system
Analysis of the upper beam
Slide 8
Stability investigation
Current input to the MR damper 0A
0.4 2.5
0.3 2
1.5
0.2
Alpha1Dot(Rad/s)
Alpha2Dot(Rad/s)
1
0.1
0.5
0 0
-0.5
-0.1
-1
-0.2
-1.5
-0.3 -2
-4 -3 -2 -1 0 1 2 20 25 30 35 40 45 50
Alpha1(Deg) Alpha2(Degree)
Equilibrium points
Slide 9
MR Damper models
a. The Bouc-Wen model
Slide 10
Hysteresis behavior
Effect of the control current
Torque Vs Angular Displacement Torque Vs Angular Velocity
100 100
i=0 i=0
80 i=1 80 i=1
i=2 i=2
60 60
i=3 i=3
40 40
20 20
Torque(Nm)
Torque(Nm)
0 0
-20 -20
-40 -40
-60 -60
-80 -80
-100 -100
0 0.5 1 1.5 2 2.5 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Angular Displacement(rad) Angular Velocity(rad/s)
Current Torque
Slide 11
Effect of MR Damper parameters on..
1. Displacement Hysteresis for 2A
Torque Vs Angular Displacement for different gamma values(i=2) Torque Vs Angular Displacement for different delta values(i=2)
60 60
gamma=0.2 delta=600
gamma=1 delta=700
40 gamma=5 40 delta=843
gamma=7 delta=900
20 20
Torque(Nm)
Torque(Nm)
0 0
-20 -20
-40 -40
-60 -60
-0.5 0 0.5 1 1.5 2 2.5 -0.5 0 0.5 1 1.5 2 2.5
Angular Displacement(rad) Angular Displacement(rad)
Torque Vs Angular Displacement for different n values(i=2)
Torque Vs Angular Displacement for different beta values(i=2)
80
80
n=1
beta=500
60 n=1.9
60 beta=600
n=5
beta=737
n=8
40 beta=900
40
20
20
Torque(Nm)
Torque(Nm)
0
0
-20
-20
-40
-40
-60
-60
-80
-0.5 0 0.5 1 1.5 2 2.5 -80
-0.5 0 0.5 1 1.5 2 2.5
Angular Displacement(rad)
Angular Displacement(rad) Slide 12
Effect of MR Damper parameters on..
2. Velocity Hysteresis for 2A
Torque Vs Angular Velocity for different gamma values(i=2) Torque Vs Angular Velocity for different beta values(i=2)
60 60
gamma=0.2 delta=600
gamma=1 delta=700
40 gamma=5 40 delta=843
gamma=7 delta=900
20 20
Torque(Nm)
Torque(Nm)
0 0
-20 -20
-40 -40
-60 -60
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Angular Velocity(rad/s) Angular Velocity(rad/s)
Torque Vs Angular Velocity for different beta values(i=2) Torque Vs Angular Velocity for different n values(i=2)
80 80
beta=500 n=1
60 beta=600 60 n=1.9
beta=737 n=5
beta=900 n=8
40 40
20 20
Torque(Nm)
Torque(Nm)
0 0
-20 -20
-40 -40
-60 -60
-80 -80
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 Slide
1 13
Effect of MR damper parameters on the
vibration response
Vibration Response Vs Time for different gamma values(i=0.25A) Vibration Response Vs Time for different n values(i=0.25A) Vibration Response Vs Time for different delta values(i=0.25A)
50 50 50
gamma=0.2 n=1 delta=600
gamma=1 n=1.9 delta=843
45 45 45
gamma=7 n=8 delta=900
40 40 40
Vibration(Degrees)
Vibration(Degrees)
Vibration(Degrees)
35 35 35
30 30 30
25 25 25
20 20 20
15 15 15
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time(Time) Time(Time) Time(Time)
Vibration Response Vs Time for different beta values(i=0.25A) Vibration Response Vs Time for different alpha2 values(i=0.25A) Vibration Response Vs Time for different C2 values(i=0.25A)
50 50 45
beta=500 alpha2=12 c2=6
beta=737 alpha2=17 c2=10.5
45 45 c2=20
beta=900 alpha2=20 40
40 40
35
Vibration(Degrees)
Vibration(Degrees)
Vibration(Degrees)
35 35
30
30 30
25
25 25
20
20 20
15 15 15
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time(S) Time(Time) Time(Time) Slide 14
Comparison:
experiment and computer simulations
a. Bouc-Wen
40
Displacement(Degrees)
Displacement(Degrees)
35
35
30
30
25
25
20 20
15 15
0 5 10 15 20 25 0 5 10 15 20 25
Time(s) Time(s)
Slide 15
Dhal model
T K x (i) K y (i) z T : exerted torque of the MR brake
θ : angle
z ( z) i : control current
z : dynamic hysteresis coefficient
Kx K a Kb i Kx ,Ky, α: parameters which controls the
shape of the hysteric.
Ky K1 K 2 i
Slide 16
Hysteresis behavior
• Effect of the control current
Torque Vs Angular Displacement Torque Vs Angular Velocity
10 10
8 8
6 6
4 4
2 2
Torque (Nm)
Torque (Nm)
0 0
-2 -2
-4 -4
-6 i=0 -6 i=0
i=1 i=1
-8 i=2 -8 i=2
i=3 i=3
-10 -10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Angular Displacement (rad) Angular Velocity (rad/s)
Slide 17
Effect of MR damper parameters on..
• Displacement hysteresis for 2 A
Torque Vs Angular Displacement for different K1 values(i=2) Torque Vs Angular Displacement for different Ka values (i=2)
15 20
15
10
10
5
5
Torque (Nm)
Torque (Nm)
0 0
-5
-5
-10
K1=0 Ka=0.001
-10 Ka=1
K1=5 -15
K1=7 Ka=5
K1=10 Ka=10
-15 -20
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Angular Displacement (rad) Angular Displacement (rad)
Torque Vs Angular Displacement for different Alpha values (i=2)
10
2
Torque (Nm)
-2
-4
-6 Alpha=1
Alpha=5
-8 Alpha=10
Alpha=15
-10
-0.5 0 0.5 1 1.5 2
Angular Displacement (rad) Slide 18
Effect of MR damper parameters on..
• Velocity hysteresis for 2A
Torque Vs Angular Velocity for different K1 values (i=2) Torque Vs Angular Velocity for different Ka values (i=2)
15 20
15
10
10
5
5
Torque (Nm)
Torque (Nm)
0 0
-5
-5
-10
K1=0 Ka=0.001
-10 Ka=1
K1=5 -15
K1=7 Ka=5
K1=10 Ka=10
-15 -20
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Angular Velocity (rad/s) Angular Velocity (rad/s)
Torque Vs Angular Velocity for different Alpha values (i=0)
6
2
Torque (Nm)
-2
Alpha=1
-4 Alpha=5
Alpha=10
Alpha=15
-6
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Angular Velocity (rad/s)
Slide 19
Effect of MR damper parameters on the
vibration response
Vibration Response Vs Time for different K1 values (i=1)
50
K1=0
K1=5
45 K1=7
35
30
25
20
0 5 10 15 20 25 30
Time (s)
Vibration Response Vs Time for different Ka values(i=1) Vibration Response Vs Time for different Alpha values (i=1)
50 50
Ka=0.001 Alpha=0
Ka=0 Alpha=5
Ka=10 45 Alpha=7
45
40 40
35 35
30 30
25 25
20 20
0 5 10 15 20 25 30 0 5 10 15 20 25 30
Time (s) Time (s) Slide 20
Experimental task for hysteresis
measurement
• Displacement Hysteresis
Torque Vs Displacement (i=0.25) Torque Vs Displacement (i=1) Torque Vs Displacement (i=1.5)
20 20 20
10 10 10
0 0 0
Torque (Nm)
Torque (Nm)
-20 -20 -20
10 10 10
0 0 0
Torque (Nm)
-20 -20 -20
40 40
Displacement (Degrees)
Displacement (Degrees)
35 35
30 30
25 25
20 20
15 15
0 5 10 15 20 25 0 5 10 15 20 25
Time (s) Time (s)
Slide 23
Conclusion
Slide 24
Thank You...!
Slide 25
Reference Slides
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