CONTROL-ORIENTED DYNAMIC MODELLING AND EXPERIMENTAL CHARACTERIZATION OF MAGNETORHEOLOGICAL DAMPERS

This work is about the dynamic modelling and the experimental testing of magnetorheological (MR) dampers. The main improvement of this work over former models is the identification of dynamic parameters that are independent of the working conditions (speed, stroke) and that vary only as a function of the current. The excitation current is introduced in the model as a variable, not only reducing the amount of test needed to asses the parameters, but also obtaining a faster model that can be profitably used in motion control. A second order polynomial relationship between the applied current and the three variable parameters is found, showing a saturation effect at high current.