Thesis
Hysteresis elimination and design optimization of magnetorheological brake actuators for haptics
Washington State University
Master of Science (MS), Washington State University
2012
Handle:
https://hdl.handle.net/2376/102163
Abstract
This research focuses on the development of a design optimization method for magnetorheological (MR) brake actuators, elimination of hysteretic behavior in MR-brakes and the preliminary development of a permanent magnet MR-brake design. An optimization method was developed for MR-brake actuators by combining the Taguchi’s design technique with parameterized magnetic finite element analysis. The main objective was to keep the designer in the design loop while decreasing the design time. The developed technique enabled the designer to see the dominant parameters of the design and investigate their interactions with the design output. To eliminate the hysteresis in MR-brake actuators, a novel control scheme was developed with a proportional-integral-derivative controller. A Hall-effect sensor was embedded in the magnetic flux path to measure the magnetic induction across the MR-fluid. This novel scheme was tested on a prototype MR-brake and the results showed that the proposed control scheme could eliminate the hysteretic behavior and the residual off-state torque in MR-brakes. A new type of MR-brake with an embedded permanent magnet and serpentine flux path was also developed. The new design is capable of providing a fail-safe feature and is smaller due to the decreased number of coil turns
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Details
- Title
- Hysteresis elimination and design optimization of magnetorheological brake actuators for haptics
- Creators
- Galip Ozan Erol
- Contributors
- Hakan Gurocak (Degree Supervisor)
- Awarding Institution
- Washington State University
- Academic Unit
- Electrical Engineering and Computer Science, School of
- Theses and Dissertations
- Master of Science (MS), Washington State University
- Publisher
- Washington State University; Pullman, Wash. :
- Identifiers
- 99900524869401842
- Language
- English
- Resource Type
- Thesis