High-Precision Improved Hyperbolic Tangent Model for Multi-Stage Flow Channel Magnetorheological Damper

doi:10.12141/j.issn.1000-565X.240241

Abstract

Abstract:

The multi-stage flow channel magnetorheological damper (MFC-MRD) in the hydraulic actuator can effectively improve the underdamping characteristics of hydraulic valve-controlled cylinder system and improve the stability of the system. It possesses potential application value in such equipment such as legged robots and excavators. However, the high power density design of MFC-MRD may inevitably increase the effective length of the damping channel, thereby increasing the damping force of the system, which makes the existing dynamic model cannot accurately describe the nonlinear hysteresis characteristics of MFC-MRD. In order to improve the nonlinear hysteresis characteristics of MFC-MRD, on the basis of mechanical performance test and by analyzing the multi-stage flow channel structure and nonlinear hysteresis curve characteristics, the hyperbolic tangent curve is segmented and reorganized, and then an improved hyperbolic tangent model conforming to the hysteresis characteristics is proposed. In the process of parameter identification, to avoid model parameters falling into local optimum and “premature”, the selection operator of genetic algorithm is improved, and a three-level stepwise approximation selection operator is proposed to improve the identification accuracy of model parameters. Moreover, the relationship between model parameters and current is accurately obtained according to the mechanical experimental data. The comparison results of different models show that the improved hyperbolic tangent model established in this paper is of higher accuracy than the Bouc-Wen model and the data-driven model because it can accurately describe the nonlinear hysteresis characteristics of MFC-MRD, with an accuracy increase of up to 75%.

Key words: multi-stage flow channel magnetorheological damper, hyperbolic tangent curve, forward kinematics model, improved genetic algorithm, parameter identification

CLC Number:

TH113.2

DU Heng, LÜ Yanting, HUANG Hui, MA Baizhou. High-Precision Improved Hyperbolic Tangent Model for Multi-Stage Flow Channel Magnetorheological Damper[J]. Journal of South China University of Technology(Natural Science Edition), 2025, 53(7): 39-49.

Figures/Tables 20

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Table 1

Identification results of each parameter at different currents"

电流/A	$β$	$γ$	$α$	$c 0$	$k 0$
0.0	0.549	2.345	240.769	8.989	-0.80
0.4	0.580	2.327	620.734	12.782	-1.10
0.8	0.540	2.412	1 500.547	13.455	-1.90
1.2	0.508	2.520	2 150.991	16.881	-2.91
1.6	0.554	2.424	3 000.656	19.682	-4.31
2.0	0.596	2.337	3 800.843	22.871	-5.10

Table 1

Fig.10

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Table 2

Parameter identification results of the improved Bouc-Wen model at different currents"

电流/A	$β$	$γ$	$α 1$	$c 0$	$D$
0.0	0.951	15.979	100.204	12.806	195.227
0.4	0.969	16.039	168.127	13.170	230.702
0.8	0.974	17.909	351.189	15.085	312.165
1.2	0.976	19.951	514.587	20.092	393.047
1.6	0.967	21.100	661.139	24.859	465.864
2.0	0.982	23.065	821.359	30.789	527.153

Table 2

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