Semi-active vibration isolation system with variable stiffness and damping control

This paper proposes a semi-active variable stiffness vibration isolation system based on electromagnetic spring for the low-frequency vibration isolation of mass-varying objects. It is achieved by four straight leaf springs in parallel to an electromagnetic spring system composed of a single electromagnet and a permanent magnet. The equivalent magnetic circuit method is used to compute electromagnetic force of the electromagnetic spring system, and mathematical model of the semi-active vibration isolation system is established according to Maxwell's equations. The nonlinear mathematical model is linearized at the equilibrium point by using the Taylor series expansion theorem to establish linear state-space representation of the system, and then using the traditional PID control method, a double closed-loop feedback control system of the inner current loop and outer location loop is designed. By controlling the current in the coil, the equivalent stiffness and electromagnetic force of the system are variable to achieve semi-active control. Furthermore, the control block diagram of the semi-active vibration isolation system is built based on Simulink software, then make a simulation analysis to the vibration isolation performance of the system and compare the effects of vibration isolation with inner current loop control and without inner current loop control, respectively. Finally, the experiments prove the correctness of the theory. It concludes that this semi-active vibration isolation system is a vibration isolation system with broad application prospects, which has fast current response, high vibration isolation efficiency, and an excellent vibration isolation effect for the low-frequency disturbance of mass-varying objects.

Vibration isolation methods that vary damping and stiffness have demonstrated excellent authority over system vibration, thus, potentially making them attractive for many applications. However, conventional devices for controlling variable stiffness are typically complicated and difficult to implement in most applications. To address this issue, a new method is proposed that requires two magnetorheological (MR) fluid dampers placed in series. With this configuration, variable damping and stiffness vibration control is simultaneously achieved by varying a small current to the MR dampers. This paper presents a theoretical and experimental analysis of a two degree-of-freedom system that is controlled by the MR dampers. Five different control schemes involving the variable damping and stiffness are explored. The time and frequency responses of the two degree-of-freedom system to a random input show that combined variable damping and stiffness control provides the best vibration isolation over a frequency range spanning the system’s two structural vibration modes. The experimental results agree well with the theoretical analysis.

The simulation model of railway vehicle semi-active vibration isolation system is constructed by application of Matlab / Simulink software, and the dynamics simulation on railway vehicle semi-active vibration isolation system is carried out. In the case of random input, the vibration isolation characteristics (such as distance of vibration isolation, vibration acceleration response variance) of railway vehicle are computed and analyzed, and the effect of spring stiffness, damping, and vehicle speed on the vibration isolation characteristic is discussed. The isolation effects of the passive and semi-active vibration isolation system are compared and analyzed, and the parameters of the semi-active vibration isolation system are optimized too. From the simulation, it is found that semi-active suspension has a higher isolation performance than the passive suspension.

The capability of a variable stiffness and damping (VSVD) suspension system via a magnetorheological (MR) damper on improving vehicle lateral stability is investigated in this paper. First, a type of the VSVD suspension system is briefly introduced with the application of variable damping to realize the capability of VSVD. Then, variable damping via the MR damper is extended, and the characteristics of damping force are presented with the Bouc-Wen model. Then, the proposed VSVD system is inserted into a full vehicle model as a front suspension system to control tire normal forces. A control strategy composed of a fuzzy controller that the output is wheel slip ratio and a simple on/off controller to model the application of VSVD is developed to illustrate its ability in improving vehicle stability. It is shown from simulation that VSVD can increase tire normal forces and make vehicles present better performance on lateral stability.

A quasi-zero-stiffness (QZS) vibration isolation system presents the characteristics of high-static-low-dynamic, which can effectively isolate ultralow-frequency vibrations. However, most QZS vibration isolation systems are highly susceptible to external loads, causing deviations from the equilibrium position, which degrades their vibration isolation performance and severely restricts the range of QZS. To overcome these limitations, a novel vibration isolator was proposed by integrating a QZS structure with a variable stiffness and variable damping (VSVD) structure. The stiffness and damping of the vibration isolation system can be regulated to resist variable mass loads, and the QZS vibration isolation band can be broadened using the nonlinear positive stiffness of the conical rubber spring to effectively suppress ultralow-frequency vibrations. The dynamic characteristics of the QZS-VSVD vibration isolator were analyzed using the harmonic balance method. The effects of damping coefficients, excitation amplitude, and mass load on the amplitude–frequency characteristics and displacement transmissibility of the vibration isolation system were investigated. A virtual prototype of the QZS-VSVD vibration isolator was established using the ADAMS software, and vibration simulations were conducted. The results indicate that the QZS-VSVD vibration isolator can achieve ultralow-frequency vibration isolation at approximately 1 Hz under variable mass loads ranging from 3300 N to 3700 N. When the mass load was 3500 N, the amplitudes of the isolated object were attenuated by 70.6% and 86.2% under displacement excitation at 3 Hz and 5 Hz, respectively. Compared to linear isolators and a typical QZS structure, the proposed QZS-VSVD vibration isolator exhibited a greater load-bearing capacity, stronger anti-interference capability, and broader vibration isolation bandwidth.

In order to improve the environmental adaptability and interaction stability of industrial robotic arms, a flexible joint with variable damping and stiffness based on magnetorheological (MR) technology was proposed. The mechanical models for variable stiffness and damping of MR flexible joint were established, and the relationship between cam surface and variable stiffness element was derived based on the energy method. Subsequently, the variation patterns of equivalent stiffness and damping of the prototype under different excitations were experimentally tested, and the test results show that its mechanical properties meet the design requirements. To further verify the performance of the MR flexible joint on the robotic arm, we setup a collision buffering test system and investigated the buffering performance of the system under different working conditions. The buffering test results indicate that when the current of variable stiffness element is 2.0 A, the peak collision acceleration of the system after installing the MR flexible joint decreases by about 40.19% compare with the rigid collision.

This paper presents an innovative seat suspension with variable stiffness and variable damping (VSVD) via magnetorheological fluid dampers to enhance ride comfort. The VSVD seat suspension is developed based on an innovative structure with springs in series and damping units, and its principles of VSVD and vibration attenuation are evaluated theoretically. The proposed VSVD seat suspension is then manufactured and tested. The test results illustrate that the equivalent stiffness of the seat suspension with power on (Is = 2.0 A current) increased to 186% and the equivalent damping (Id = 1.0 A) raised to 520% compared to the seat suspension with no current applied. The evaluation of vibration-attenuation capability of the seat suspension is conducted by employing Fuzzy logic controls and both harmonic and random signals are considered as vibration excitations. The experimental data show that the proposed seat suspension with controlled stiffness and damping results in lower seat acceleration compared to a passive seat or one with traditional damping control.

Magneto-Rheological mount is a new type of semi-active and intelligent vibration isolator. It can adjust damping to reduce unwanted vibration from engine by supplying required input currents. The performance of Magneto-Rheological (MR) mount is much better than the conventional rubber mount or hydraulic mount due to its controllability and flexibility. In this paper, a novel MR engine mount with the flow mode-type for a sedan is devised, manufactured and characterized. Some important parameters are optimized to meet the requirements of MR mount by using Electromagnetic design methodology.. Electromagnetic finite element analysis verifies the effectiveness of the magnetic circuit design. The dynamic performances of MR engine mount in frequency domain are investigated experimentally. The results show that the dynamic stiffness and phase lag of MR engine mount can change continuously. They are frequency-dependent. In additional, a open-loop control strategy based on engine rotational speed measurement is proposed and the control system is performed in hardware and software. The experimental and theoretical results identified the effectiveness of such a semi-active vibration isolation system.

A wide-range variable stiffness mechanism for semi-active vibration systems

The concept of applying semi-active control systems to vibration isolation and shock attenuation is proposed. In this paper, a semi-active isolator for enhancing the pointing performance of optical equipment on-board satellites and its characteristics are first introduced and then a generally applicable semi-active control law is proposed for vibration isolation. The isolation performance of the semi-active control law proposed in this study is evaluated through numerical simulations. The performance of the system with the semi-active control law proposed in this study is compared with those of a passive system and a semi-active system with a previously proposed semiactive control law. Next, to investigate whether or not the isolator is also effective for attenuating shock that is induced by rocket lift-off and pyrodevice ignition for inter-stage separation, we also performed numerical simulations and evaluated its effectiveness.

Magnetorheological (MR) fluid is a functional material that responds to an applied magnetic field with a change in rheological behavior. The essential characteristic of this fluid is its ability to reversibly change from free-flowing, linear viscous liquid to semi-solid, which has controllable yield strength in milliseconds when exposed to a magnetic field. The MR fluid can, therefore, play an important role in the controllable vibration damper. In this paper, based on the experimental data, an improved mechanical model for MR damper is developed and confirmed by one degree of freedom vibration system. The model consists of a hysteresis part and a variable viscous damper proportional to the added voltage. In addition, numerical simulation are performed when the MR damper is used in the ground vehicles as a part of suspension system, while the MR damper is considered in two-stage state and on-off state. The results show that, as a controllable damper, MR damper is very effective for vibration isolation of the vehicle body acceleration and suspension travel, both in on-off state and two-stage state.

In this paper the authors consider the problem of optimising the design of a magneto-rheological (MR) damper for controlling the lateral vibrations of a modern rail vehicle. It is shown how, using generalised test data, the primary control variable (i.e. the applied magnetic field) can be related to the desired force-velocity envelope of the MR damper. Optimisation of the damper design is then considered, taking account of the damper dimensions and available space envelope, the dynamics (due to compressibility and inertia) of the MR fluid and the configuration of the magnetic circuit. Using data from a commercially available MR fluid, it is shown how a controllable damper can be designed to improve upon the specification for a conventional lateral railcar damper. With zero applied magnetic field the MR damper is shown to be capable of providing a fail-safe minimum value of damping. Increasing the magnetic field provides a maximum equivalent damping level in excess of that available from a conventional hydraulic damper. Over the frequency range from 1 to 10 Hz it is suggested that dynamic effects would not cause significant degradation of performance. Furthermore, for the MR fluid considered, the electrical power consumption would be unlikely to exceed 100 watts.

This paper presents an overview and problem definition of a benchmark problem for the response control of wind-excited tall buildings. The building considered is a 76-story 306 m concrete office tower proposed for the city of Melbourne, Australia. The building is slender with a height to width ratio of 7.3; hence, it is wind sensitive. Wind tunnel tests for such a 76-story building model have been conducted at the University of Sydney and the results of across-wind data are used in the present benchmark problem. Either active, semiactive, or passive control systems can be installed in the building to reduce the wind response, although only an active control sample problem has been worked out to illustrate the control design. In the case of active control systems, either an active tuned mass damper or an active mass driver can be installed on the top floor. In the case of passive or semiactive systems, such as viscous dampers, viscoelastic dampers, electrorheological, or magnetorheological dampers, etc., control devices can be installed in selected story units. Control constraints and evaluation criteria are presented for the design problem. A simulation program based on the linear quadratic Gaussian technique has been developed and made available for the comparison of the performance of various control strategies.

Control of a new low-cost semi-active vehicle suspension system using artificial neural networks

Semi-active isolation systems fill the gap between passive and active systems, delivering the versatility and adaptability of fully active systems, by expending a small amount of energy to change system parameters such as stiffness and damping. Magnetic suspension vibration isolation provides an excellent active isolation technology, and has shown useful characteristics including noncontact isolation, fast response, high reliability and long lifespan. However, because it is highly nonlinear and time variant, the control of magnetic suspension vibration isolation is an area that still requires further exploration. This paper presents a fuzzy control algorithm for a semi-active multi-degree-of-freedom vibration system. The fuzzy control is based on the minimization of the weighted sum of squared output forces. The output force response of the fuzzy, PID control semi-active vibration isolation system and passive system under the same excitation are simulated. The simulation results show that the fuzzy control system has much better performance in vibration isolation. An experimental platform is developed to test the performance of the magnetic suspension vibration isolation system and the proposed fuzzy control algorithm. The experimental results are found to be in good agreement with simulation.