vii
TABLE OF CONTENTS
CHAPTER
TITLE
DECLARATION
DEDICATION
ACKNOWLEDGEMENT
ABSTRACT
ABSTRAK
TABLE OF CONTENTS
LIST OF TABLES
LIST OF FIGURES
LIST OF APPENDIX
PAGE
ii
iii
iv
v
vi
vii
x
xi
xiv
1
INTRODUCTION
1.1
Introduction
1.2
Motivation of Study
1.3
Research Objectives
1.4
Research Scope
1.5
Significance of Research
1.6
Outline of Thesis
1
1
2
6
6
7
7
2
LITERATURE REVIEW
2.1
Introduction
2.2
Magnetorheological Fluid
2.2.1
Composition of Magnetorheological
Fluid
2.2.2
Operational Modes of Magnetorheological Fluid
2.3
Magnetorheological Valve
2.3.1
Annular Magnetorheological Valve
2.3.2
Radial Magnetorheological Valve
9
9
9
10
11
14
15
18
viii
2.3.3
2.4
2.5
2.6
2.7
3
4
Combination of Annular and Radial
Magnetorheological Valve
Experimental Assessment Method for Magnetorheological Valve
Modeling Approach for Magnetorheological Valve
2.5.1
Steady-state Model
2.5.2
Dynamic Model
Utilization of Magnetorheological Valve
2.6.1
Linear Magnetorheological Damper
2.6.2
Rotary Magnetorheological Damper
2.6.3
New Magnetorheological-based Actuators
Summary of Chapter 2
20
20
22
23
27
30
31
35
39
41
MAGNETORHEOLOGICAL VALVE CONCEPT
3.1
Introduction
3.2
Design of Magnetorheological Valve
3.2.1
Conceptual Design
3.2.2
Design Consideration
3.2.3
Magnetic Simulation
3.3
Steady-state Modeling of Magnetorheological
Valve
3.4
Simulation of Magnetorheological valve Performance
3.5
Summary of Chapter 3
42
42
42
43
45
47
EXPERIMENTAL ASSESSMENT
4.1
Introduction
4.2
Experimental Apparatus
4.2.1
Magnetorheological Fluid
4.2.2
Magnetorheological Valve
4.2.3
Testing cell
4.3
Experimental Set-up
4.4
Experimental Results
4.4.1
Off-state and On-state Pressure Drop
Characteristics
4.4.2
Effect of Gap Size
4.4.3
Effect of Current Input Variation
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62
62
62
64
67
68
71
50
54
61
71
75
76
ix
4.5
5
6
HYSTERESIS MODELING OF MAGNETORHEOLOGICAL VALVE
5.1
Introduction
5.2
Polynomial-based Hysteresis Modeling Approach
5.3
Modified LuGre-based Hysteresis Modeling Approach
5.4
Model Performance Comparison
5.5
Summary of Chapter 5
CONCLUSIONS AND RECOMMENDATIONS
6.1
Conclusions
6.1.1
The New Magnetorheological Valve Concept
6.1.2
Gap Size Selection Effect
6.1.3
Experimental Assessment of Magnetorheological Valve Performance
6.1.4
Hysteretic Modeling of Magnetorheological Valve
6.2
Contributions of the Research
6.3
Open Problems and Recommendations for Future
Works
6.3.1
Pressure Tracking Control System
6.3.2
Other Open Problems
REFERENCES
Appendix A
4.4.4
Effect of Excitation Frequency Variation
Summary of Chapter 4
79
80
82
82
82
87
90
95
96
96
96
97
97
98
99
100
100
103
105
120 – 129
x
LIST OF TABLES
TABLE NO.
3.1
3.2
3.3
4.1
4.2
5.1
5.2
5.3
5.4
5.5
TITLE
Materials selection of valve component for valve routing
List of MR valve parameter
Performance benchmarking between the proposed MR valve
concept and the counterparts
Typical properties and material compatibility of MRF-132DG
The variable arrangement of experimental test using
Shimadzu Fatigue Dynamic Test Machine
Correlation test results between the model coefficient a and
current input I
List of coefficients for the polynomial-based parametric MR
valve model
List of approximated function for different parameters
Comparison of relative error at 0.75 Hz frequency excitation
Comparison of relative error at 0.50 Hz and 1.00 Hz
frequency excitations
PAGE
46
53
60
63
71
85
87
90
91
94
xi
LIST OF FIGURES
FIGURE NO.
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
2.10
2.11
2.12
2.13
2.14
2.15
2.16
2.17
2.18
2.19
2.20
2.21
2.22
2.23
2.24
2.25
2.26
2.27
2.28
2.29
TITLE
Movement of magnetic particles in the MR fluid with and
without magnetic field
Shear mode
Valve mode
Squeeze mode
Magnetic Gradient Pinch mode
MR throttle valve
C-shaped pressure control valve
Three port MR valve
Double-coil annular MR valve
Basic structure of single stage radial MR valve
Two-way controllable radial MR valve
Annular-Radial MR Valve
Typical arrangement of constant flow assessment method
Typical arrangement of variable flow assessment method
Illustration of significant variables in an MR valve
Bouc-Wen model
Parametric hysteretic polynomial model
Artificial Neural Network model
Valve mode MR damper
Shear mode MR damper
External coil MR damper
MR damper with bifold valves
Bifold MR damper for high impulsive loads
Bifold MR damper for shock vibration mitigation
Basic structure of Bypass MR damper
Bypass MR damper for large scale seismic application
Vane type MR damper with arc valve
Vane type MR damper with outer coil valve
Vane type MR damper with inner coil valve
PAGE
10
12
13
13
14
16
16
17
18
19
19
20
21
22
25
29
30
31
32
32
33
33
34
34
35
35
36
37
38
xii
2.30
2.31
2.32
2.33
2.34
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.10
3.11
3.12
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
MR based bellow-driven motion control
MR hydraulic power actuation system
Actuation with embedded Terfenol-D pump
MR based link manipulator
4/3 way directional MR valve (citation)
Concept assessment sequence of the new MR valve concept
Basic concept of MR valve with meandering flow path
Approximation of yield stress as a function of magnetic flux
density, B
Two-dimensional axisymmetric model of the MR valve in
FEMM
Flux lines and contour of magnetic field of the MR valve in
FEMM
Magnetic flux density along MR fluid flow path for 0.5 mm
gap size with respect to various current input
Gaps zone in MR valve with multiple annular and radial gaps
Dimension and variables of MR valve
Estimation of achievable pressure drop of MR valve with 0.5
mm gap size
Percentage of pressure drop contribution from each zone (a)
viscous (b) field-dependent at 1 A current input
Effect of gap size on the pressure drop (a) viscous (b) fielddependent at 1 A current input
Comparison of operational range between various gap
configurations
B-H curve of the MRF-132DG
Field induced yield stress of the MRF-132DG
Exploded view of the MR valve prototype
Failure of the bolt-locking mechanism to withstand internal
pressure
Modification and comparison of the MR valve prototype(a)
Exploded view of the MR valve design (b) Fabricated
prototype of MR valve
MR valve installation in the testing cell
Experimental arrangement schematic for the MR valve testing
MR valve testing set-up using in-house test machine
Testing cell installation in the Shimadzu Fatigue Dynamic
Test Machine
39
39
40
40
41
44
45
48
48
49
50
52
54
55
55
57
59
63
64
65
65
66
67
69
70
71
xiii
4.10
4.11
4.12
4.13
4.14
4.15
4.16
5.1
5.2
5.3
5.4
5.5
5.6
6.1
6.2
Comparison of measured and theoretical off-state peak
pressure drop at various flow rates for 0.5-0.5 mm (annularradial) gaps configuration
Comparison of measured and theoretical on-state peak
pressure drop at various current inputs and flow rates for 0.50.5 mm (annular-radial) gaps configuration
Comparison of measured peak pressure drop in various gap
size combinations
Comparison of the MR valve dynamic range for each gap size
combinations
The pressure dynamics of MR valve at various current input
for 0.5-0.5 mm (annular-radial) gaps configuration, (a) 0.50
Hz (b) 0.75 Hz (c) 1.00 Hz
The trend of peak pressure drop at various current input for
0.5-0.5 mm (annular-radial) gaps configuration
The pressure dynamics of MR valve at current input of 1A at
various frequency excitation for 0.5-0.5 mm (annular-radial)
gaps configuration
The difference between MR damper model and MR valve
model excitation
Trend of the normalized coefficient values at the positive flow
acceleration (lower loop) to the variations of current input (a)
a6 , a5 and a4 (b) a3 , a2 , a1 and a0
Trend of the normalized coefficient values at the negative flow
acceleration (upper loop) to the variations of current input (a)
a6 , a5 and a4 (b) a3 , a2 , a1 and a0
Trend of estimated parameters with respect to current input
Comparison between the test data and the model results for
various current input, (a) 0.3 A (b) 0.6 A (c) 0.9 A
Comparison between the test data and the model results for
current input of 1.0 A at various frequency excitations, (a)
0.50 Hz (b) 1.00 Hz
Basic structure of pressure tracking control of MR valve
Simulation results of pressure tracking control under various
functions as reference, (a) Sinusioidal (b) Pulse (c) Saw-tooth
72
73
76
77
78
79
80
83
85
86
90
92
93
100
102
xiv
LIST OF APPENDIX
APPENDIX
A
TITLE
CAD Drawings
PAGE
120