# [1]文辞,宋爱国.适用于力反馈的三圆盘磁流变液执行器工作机理及建模[J].东南大学学报(自然科学版),2012,42(5):892-897.[doi:10.3969/j.issn.1001-0505.2012.05.018] 　Wen Ci,Song Aiguo.Working principle and modeling of three-plate magnetorheological fluid actuator for force feedback[J].Journal of Southeast University (Natural Science Edition),2012,42(5):892-897.[doi:10.3969/j.issn.1001-0505.2012.05.018] 点击复制 适用于力反馈的三圆盘磁流变液执行器工作机理及建模() 分享到： var jiathis_config = { data_track_clickback: true };

42

2012年第5期

892-897

2012-09-20

## 文章信息/Info

Title:
Working principle and modeling of three-plate magnetorheological fluid actuator for force feedback

Author(s):
School of Instrument Science and Engineering, Southeast University,Nanjing 210096,China
Remote Measurement and Control Key Lab of Jiangsu Province,Southeast University,Nanjing 210096,China

Keywords:

TP24
DOI:
10.3969/j.issn.1001-0505.2012.05.018

Abstract:
To improve the accuracy of a magnetorheological fluid(MRF)actuator mechanical model,considering hysteresis, a piecewise linear torque-current model of a three-plate MRF actuator suitable for random current change is established.The working principle of the actuator is analyzed,and a torque formula based on the Bingham plastic model is derived. The ferromagnetic material and MRF form the magnetic circuit,and their magnetic properties are introduced. Reasons of hysteresis being in the ferromagnetic material and no hysteresis observed in the MRF are studied.Hysteresis of the ferromagnetic material affects the torque-current relationship of the actuator,and the experimental results show that the hysteresis phenomenon exists between the torque and current.With the current sequential variation of 0-1.2-0 A,the residual standard deviation of the quadratic-multinomial model without considering hysteresis is 8.2 and 11.2 N·mm, respectively,and the residual standard deviation of the piecewise linear model is 5.9 and 6.2 N·mm, respectively. The piecewise linear model is more accurate than the quadratic-multinomial model.

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