Analytical Model of a Magnetorheological Damper and

Its Application to the Vibration Control

Gng PA
Dept. of Prcision Engineerng,
Kyoto Un., Yoshda-Honmachi,
Sayo-k, Kyoto, Japan, 606-8501
pa@rec.koto-u.ac.jp
Hiosh MTSUHISA
Dept. of Precision Engneering,
Kyoto Un., Yoshida-Honchi,
Sayo-k, Kyoto, Japan, 606-8501
matsu@prec.koto-u.ac.jp
Yoshhsa HONA
Dept. of Prcision Engineerng,
Kyoto Un., Yoshida-Honmchi,
Sao-k, Kyoto, Japa, 606-8501
honda@rec.koto-u.ac.jp
Abstract
Magnetorheological () fuid and it der have
rceived a grat dl of atention m the rcent years. It i ver
uel for this m contllble dmper in the vibration contrl
sstem, epecilly as a semi-active contl device. To deelop
the contl algoritms that tk mimum adntge of the
uniue fetr of the mdmpe a model mut be developed
that can adequately character the dmer s intrinic
behavior In thi paper folowing a nr of thre mechanicl
modl for m dmper the e ct of these models on the
vibraton contl is analyed in a one-gre-of-edom
sstem. Numerical simulation ar perored when the m
dmper i ued a the pasive tpe dmper on-of tpe dmper
and qui-skhook tpe dmper. Te rult show that the
modls ar les afecting the vibration contl peroHce,
and the m dmper appears the best contl perorance in
the quasi- skhook te.
1. Intoducton
Magetoreologcal () fuid[l] is a material tat
rsponds to a applied mgeic field with a chage in the
reologcal bhavior. The esental chaacteristc of ts fluid
is its ability reveribly change fom feefowing, linea
viscou liqid sei-solid, which has contollable yield
stength in liseconds when exposed wa magetc field. M
fuid 0 therefore, play a imornt role m contllable
vibraton dmper[2][3]. H is very uef for tis N
contollable dper in vibraton contol s especialy as a
semi-actve contol device[4]. To develop the contol
agoritms tat tae mm advatae of te unique
features of te M daper, a model mut be developed tat
ca adequtely characterie te damper'! intnsic behavior.
Up to now, bot nonpetic ad paetic models have
been considered t model the behavior of contllable fluid
dpers. However, it is difcult of te nonpetc models
0-7803-6456-2/00/$10.00 2000 IEEE
for a ue because rsultg models m of qte
complex. Using basic mechancs, seeral pmetic models to
charact te contollable dper have been developed.
Staway [5] proposed a ideaed mechaical modl, deote
te Bingam model, for te behavior of a tKdamper in 1987 .
Gota ad Filisko[ 6] proposed a extension of the Bingm
model, which is gven by te viscoelac-plaic model in
1991. Baed on te Bouc-Wen[7] models for modeling
hyc sy whch was proposed by Wen in 1976,
Spencer[8] proposed a moded model.
U tis sty, tree paetic models m descrbed ad
peters of tese models ae selected to suit for
exerimenta response. Based on this, the efect of tese
models on te vibrton contl is aalyed in a
one-degeeof-feedom system. Nuerica simulatons m
perfored when N daper is ued a passive tpe dper,
on-ftpe der ad quasi-skook t dper.
2. Expermental Setup and Results
The exerimental setup sow in Fig. wa desiged ad
built for obtg te respone dt of M daper. m
setu, a one-degeeof-fdom vibrton Q comose of
a M dper, a spring ad a ms was put a vibrator tale.
P laser-te displacement meter W istaled between te
mas ad te vibrator table. From dsplacement, te velocit
resone W calculate. A q force tsducer wa
installe betwe te vibrator tale ad te M der to
meae te outut force of M daper. For ch te
stengt of mgetc feld inside te M dper, a vaable
OL power device was emloyed to supply powe t M
daer. The dt acquisition ad watching system conisted of
mult-chanel 1 ayer ad a computer. Through this
exerimet setup, dyic responses of te damper could be
measued with a wide rage of prescribed dislacement wave
fors, when sine waves fm a sigal geneator were input V
vibrator.
1850
Lascr
Fig.! Te uHsetup for M daper
g so
L

0.8\ V 0.42 V ov
500

o 0.\ 0.2 0.3
:mC (9\
U.
(a) Daping force vs tme (aplitde 3.3m)
Z SIX) Ut1 N N U`
U .1 U2 U3 U U.^
tmC (s)
(b) Daping force vs tme (alitud 6.5m)
< 200
-iD l00
Ve!ociy (t::i)/s)
2D
(c) Daing force vs velocity (aplitde 3.3m)
W
C
-
;

=2
Q

~J 1 l
Voc:ty lMm51
.
(d) Daping fr vs velocity (aplitde 6.5m)
Fig.2 Exeriment rsonse of M dper
U Fig. 2, efect of changng te magetc feld is readly
obsered. A te voltge incres, te force rquid V yeld
te M fuid i the dper increaes ad te M dper
exesses the increaing damping force. Aso, in Fig. 2 (e),(d),
focuing attenton te lae velocity regon of the
force-velocity cue, te fore in te dper varies
approximately linealy wit velocity. However, a in te smal
velocit regon, te force-velocity cue expresses hystis
loop. And on te sae fequency ad aplite, te wid of
hystesis loop is nealy s. Anoter Nm of te force
response is tt te increase in foce is approximately linea
for a gven increase in applied voltage.
3. Mechancal Models of M Flud
Damper
Baed on te model of te rheologca behavior of M
fuids, a mechical modl propose by Stw usually
de te Bingam model (model I), ca be used r te
behavor of a M dper. Te model coniss of a Coulomb
ficton element placed in paallel wit a viscous dper, a
show in Fig. 3.
,., rx

]
-
Fig.3 Bingam model of M damper
Te force geneted by te M dper ca be gven by
f /f@(xp)",( ,) (1)
where C_ is te ding coefcient ad ] is te fconal
force, which is related wmfuid yield stss.
Considerng tat te increae in te dping force u
approximately linea for a gven incrae in te aplied voltage,
te constt in (1) a also considered va linealy with
te applied voltage.
/ /, */ (2)
where C ] a constt values when tere is no voltage
on M dmper; C _ a coefcients wit voltage. With
te metod of least squs, values of paeters in (2) a
seleced mtM dper, which ae show mtable .
1851
/,
Tale ! Values of paetes
0.S9Nsm O.26N sm' V
SSN
JD^

2W
?
>
C

=2
C
00

?00 -00 !0 ZW
VdollY (m/<)
lO7N
(a) Daping force vs velocity (aplitude 3.3m)
+u0
2
?Ul

`E
+ -20
C

~\ -: I
DispIacvmeut tmm)
() Daing mrvs dislacmet (aplitude 3.3m)
4!

.
~?00
-0
2 -l !0l `U
\oity (no/ s)
(c) Ogmgforce vs veloity (aplitude 6.5m)
2
~
?00
-
1

E
-?00
-0
-1 l0
DispIacmcnt (qm)
(d) Daping force Nb08MNI(aplitde 6.Sm)
Fig.4 Comason betwen te prdicted ad eetl
resonse
(-Prdicted response; ... Eerimentl resonse)
Fig. 4 shows te predicted rsponse of mechaical model
l ad exerimental rsponse in te voltage states.
Altough the forcedislacement behavior apea w be
modeled well, m forcevelocity vaaton (hysis loop) m
the sall velocit is not reaonably exressed.
For modeling te hystresis in the small velocity near zero,
a model consist of a viscou damer ad a hysis MOtis
considerd. A scheatc of tis model (model I) is show in
Fig
.
5 and dapig frce is gven by
J=C(x-xo) U
where variable Z is goveed by (4)
z=-x-xolzlr
'
-j(x-XII)In +A(x-xl I)
(3)
(4)
whe y,, A W the coefciets conneng wth te hysis
Dmad N is a connt.
`

Fig.S M daper model wit hysis

Also considering tat te increae in fore is aproxately
linea for a gven increase in te applied voltge, te contts
i (3) wll also b coniderd V va liely wit te applied
voltge.
o=O O,I
(5)
where Co, O_ m constt values whe ter is no voltage
on m m dper; C O U connt coefciets wit
te voltage. Wit te method of least sques, values of
paeter m(2) ad (3) & selected mrmder.
0
O
T
(
Table Vaues of QMW
v.81&m c,. 0.26 N
.
>/mm V
28 Nm U 52 N/mn
2.0
-:
X 36 D
2.0
-1
8 O R
Fig.6 shows te predicted respon of mechaical model
ad exermental response in tree voltage states. 1t is
obsered tat model H is well ft vte exermetal data bt
m te hysis M8 0 in te lager velocit m@ which
shows model J ca exrss te perforace of te M
dper.
Compang model ! wit model D altoug model b is
beter exressing the behavior of the M dper, it should be
adited tat it is more difcult when M der is ued a
contollable der esecially in which voltage is neeed w
calculate for imlementng desired dmping fore. U the
n=eicl integaton of (4), the time w is requd on te
order of 0.001 sec. or OCsmall.
1852
~cu*
-200 -!0 !10 ?0
VeI<ity (m/)
(a) Daping frce vs velocity (aplitude 3.3m)
4
2
: 2

Z
,
=
=
~l

= =D l
Displ:u:"rn.nl (rom)
(b) Daping foce vs displaceent (aplitude 3.3mm)
2
: 20

'

`00
C
-0O \00 20
Nl~Iy (m)
(c) Daping force N velocit (aplit 6.5m)
+aa
J
zaa
e

t -zaa
C
,,
-!0 -5 lU
Osplmcti (mm)
(d) Daping force Nb displaceent (alitude 6.5mm)
Fig.6 Compaison between te predicted exet
response
(-Prected respone; ... Exerment respone)
Hc, terefore, model m based O mol I is also
considered.
(6)
where Q_ is te teshold velocity of te daper's piston.
Wen te asolute velocit of piston is less m G_ te
damping force is linealy prooronal to te velocity of piston;
when the absolut velocity of piston u geater t or equ to
40

2
20

..,
-
=4.,~
~20|I -\0U I00 2|xi
(a) Daing foce vs veoc!y(aplitude 3.3m)

G
4u
5 ~?0U
c
-00
-!0 3 l
Di>pImcnt (mm
(b) Daping force vs displacement (aplitde 3.3mm)
g
j

2D
~20I
c
~400
~?0|I \00 JIXI
NcIo!y (tiuus)
(c) Daping force N velocity (alitude 6.5mm)
400
1
2U

'
8 -200
-cu~
-l ~5 l0
l:sIarmcnt lmm)
(d) Daping frce vs dislaceet (aplitude 6.5m)
Fig.7 Compason beteen te predicted ad exetal
resonse
(-Prdict respone; ... Experment respone)
te G__ te daing force conists of couomb fcton ad
viscou daping pa.
where c, is viscou daping coefcient. Wen absolute
velocity of piston is less t te mI G. C ad f W
b W(2). W G is 30 mms, te predicted reponse of
te mechaical model ad exerment respone in te te
voltge states W sow in Fig.7. It is obsered tat model
also well exress te force-dislacement behavior. Its
forcevelocity behavior u betwee model I ad model .
1853
I0
So .pe
(0

Iu` ~
I0

(0

:
l

-~
.

..
!0`
.. .. :
!0

)0
i
_ ====~J
I0 0'
I`rvq:ituc IH: Frcqucncx tHz |:;qucov tIz)
. I0

iu'

' !0
.
U
i
7
|U

ic-~~~
iu' I0
I0~-- --
I0
r

I
.e-----
u/
__:
Ftcqucnc) |Utl |qucoy i!!z |xqencv Illzl
Fig. 9 Trssio of pssive te daper for mmodels (--model I , ... model -^ model il)
4. Efect of Models on the Vbraton
Contol
To investgate efet of model on vibraton contl, a
nuecal simulaton of a onedegef feeom system wit
te mdper calculad. The system is show Fig. 8.
And equaton of moton i gve by
(8)
where / is dping frce of m dpr. Te mas
ad srng k 250kg ad 200000 Mm m te simulaon
rsectvely.

Fig.8 One dege of feedom s
Fig. 9 sows dsplaceen tssion ad acceleton
tssio of model l , I ad m whe m daper is
use a hpassive dpr (no volMe added on mdamer),
middle dper (2 V voltge added on m dmper), had
\C
\|
1 :
|.ju.nc i1\z
dper (4 V voltage added on m dpr), in which
excitaton is x =0.0~r For te dlacemet
tsson, te models have amost sae result at M
fequency domain. For te accelerton tssion, tee
models te sae in the mm fquecy ad hig
fequecy domain. Only in lowe fequency rge, tere u a
lite diferece aong tem.
Fig.10 shows displacement tsmission ad accelerton
tssion of model I, ad il when exctaton is
v.v1wO, which m daer is ued a on-of te
dper. Tat is, we te prduct x (x-xo) u positve, a
voltge of 4(V) is added on der (on), whe m prduct
x (x-xn) is negatve or eqal R W no voltge is added on
dper (of. For the dsplaceent tssion, tree models
have amost sae results at 8ll fquency doman. m te
acceleaton tsion, tree models W the se in te
uw fequecy ad hg fecy domain. Only in the
lowe feuency rage, tere is a lite difce among tem.
From Fig. 9 and Fig. 10, it C be said that tree models have
almost te sae result on te dislacement ad accelerton
tssion when mdamper u ued as passive tye d
ad on-of te dper.
O
B
.c

0
t
i:` 1
Iqucc I<1
Fig. 10 Trssion of on-of t dper for te models (--modell, -- -model *^ model lll)
1854
] r-

on-u
1& [u:|Ae , i
\yo| ~
_
_
_ ......

,
!

|:cqucnc, 111?1
I'
' '
1

(tc,u :: i!1r)
Fig. 1 1 Comparison of tssion ofM damper a passive type, on-of tye ad Qasi-skyook type
S. Efect of Damper Tpe on Vbraton
m secton 4, passive daper ad on-of daper on tree
models a considered. Hee nueical simulaton u
performed when M dpr is conidered a quasi-skyhook
dper where only model B is considered.
To make force generated by M damper equal ideal
dping force of skyhook dmper,
f /, C_ x
(9)
te voltage should be added on the Ndamper is give by
f(c",.,x,x - i,,c,,,c/,,J,,j, ,all)
(10)
wich ca be caculated by (6), (7) ad (9) when
___ (dping coefciet of skyhook daper) is given.
Beu negatve voltage in (10) meas tat desire
dping force
ish
is less t te least damping force ofM
dpr with voltage 0 V, or
ish
oposes w te directon of
dping fore of M daper, in tis cae no voltage is added
on M dper. Loter hd tere is a hg lit of voltage
added on M dper. Terefre, M dper ca not
complely imlement te needed force of skyook dper.
Here we cal tis ty qi-skyook daper tye. Fig.ll
shows te dsplacement tssion ad accelerton
tsmssion whe excitaton is 7 0.01 sin 0 ad voltage is
selected between 0 V ad 4 V according w(6), (7) ad (9),
The results, when N daper is ued a pasive type (sof
ad hd) ad on-f type, a aso show on Fig. 1 . I|ca be
obseed lquasi-skyhook type ca get te sae wwUwit
had passive te aound mm fequency ad te sae
results wth the sof passive type on high fequency rge, bot
in dislacement tansmission ad acceleration tssion.
Altoug on-of type ca get te sae results wit had
passive type aound natral fequency bot in displacment
tssion ad acceleraton tsion, it displacement
tssion in hig fequency rage is between tat of hd
pasive tye ad sof passive te, ad its acelerton
tssion is nea w tat of h passive type, 1s indcates
tat when M dper is used W contollable damping device,
quasi-skyhook tye ca get best perforce bot m
dsplacemet tssion ad accelerton tssion.
6. Summary
To develop te contol algortms tat tae maimu
advatage of te uique featues of te M der, tree M
damper models a described m m stdy. Te model which
consists of a viscous damper ad a hysteesis fctor ca best
express the behavior of te M der. However, whe these
models ae used in a singledegeeof feedom system, little
diference appeas on te dsplacement tssion ad
acceleraton tssion aong tree models, A the
contollable der, M dper c not ony ued a a h
type passive damper or sof tye passive d, it also ca be
implemented for te on-of tye der or quasi-skhook tye
dper when a suitable contol policy is aded R te der
sym. The qusi-skhook type damer ca get the bt
vibraton contol perforce
References
[1 ] Weiss,K.D., Duclos,T.G., CalsonI,D., C.!. ad
Magda, AI, (199 3), Hig stgt mgeto- ad
eleto-relogcal fuids, Societ of Automotive Engineers ,
SA pa #9 32451
[2] !.D. Calson & B.F.Spencer (199 6) Magetrhelogca fud
ders for sei-actve seismc contol. Poceedings of the
TirdInteronal Cnference on Motion a Vibration Cntrol,
Cbiha, Japa, Vol. !,pp.35-40.
[3] T. Katuda, N.Hiriwa, SH.Doi & E. Y (1992)
Iprovemet of n0cofor by cotnuously cotlle dampe.
S 920270,Vo1.1 01(6),356-363
[4] D. Kop (199 0) Desig prciples for vibrtion cotol
systems uing sei-ave dames, Tansaction of the A,
Jmml of c Sstem, Mearement, and Cntrl.
Vol.l12,448-455.
[5] Staway, K. Sprston I,L, ad Steves, N.G. (1987)
Non-lea Moelling of a Elerheologcal Vibrton
Dape. J. Eleostatcs, Vol. 20, pp.161-184.
[6] Gamota, D.R. ad Filisk, F.E (199 1) Dc Mehical
Stues of Electe1ogca Materals: Mote Frequecies. !.
Reolog, Vol.35, pp.399-25.
[1] Wen,Y.K. (1916) Meto of Rdo Vibrto of Hysteretc
Sy J. Eg. Meh, ASCE, VoU02, No.Em, pp.249-263.
[8] B.F, Spencer, Jr., S.l De, M.K. Sain ad J.D. Calson,
"Pheoeologcal model of 8 magethciogical der,"
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1855