Shear stress tracking control of an electrorheological fluid considering hysteresis non-linearity

• Published in: Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Vol. 218; no. 2; pp. 183 - 194
• Main Authors: Han, Y M, Choi, S B
• Format: Journal Article
• Language: English
• Published: London, England SAGE Publications 01.02.2004; SAGE PUBLICATIONS, INC
• Subjects: Control equipment; Controllers; Electrorheological fluids; Feedback control; Fluid dynamics; Hysteresis; Linearity; Nonlinearity; Preisach's theory; Shear stress; Tracking control; Trajectory analysis; hysteresis variation; PID controller; shear stress tracking; polymethylaniline; inverse Preisach model; electrorheological fluid
• ISSN: 0954-4062; 2041-2983
• DOI: 10.1243/095440604322887152

Abstract This paper presents shear stress tracking control of an electrorheological (ER) fluid actuator subjected to the hysteresis non-linearity. As a first step, polymethylaniline (PMA) particles are prepared and mixed with silicone oil to make an ER fluid. The Couette-type electroviscometer is employed to achieve the field-dependent shear stress. The Preisach model for the PMA-based ER fluid is identified using experimental first-order descending (FOD) curves. A compensation strategy is then formulated in a discrete manner through the Preisach model inversion to achieve the desired shear stress of the ER fluid. A proportional-intergal-derivative (PID) feedback controller is also integrated with the compensator in order to guarantee control robustness to uncertainty due to temperature-dependent hysteresis variation. The tracking performance of the control strategy is experimentally evaluated for two different desired shear stress trajectories.