Comparison of Field-Controlled Characteristics between ER and MR Clutches

Abstract

This paper presents torque control characteristics of ER (electro-rheological) and MR (magneto-rheological) clutches. As a first step, Bingham properties of ER and MR fluids are experimentally distilled under the shear mode. A nondimensional model of the clutches is established for reasonable comparison. Two clutches have the same principal design parameters such as outer radius of the disc and electrode gap size. Following the manufacturing of two clutches on the basis of the nondimensional model, field-dependent torque levels are experimentally evaluated. A PID (proportional-integral-derivative) controller is then designed and experimentally realized to achieve desired torque. Both regulating and tracking torque control responses of the two clutches are evaluated and compared. In addition, control durability for torque tracking is undertaken to provide a practical feasibility of the proposed clutches.

Get full access to this article

View all access options for this article.

References

Carlson, D. and D. G. Duclos . 1992. "ER Fluids Clutches and Brakes-Fluid Property and Mechanical Considerations," Proceedings of the 2nd International Conference on ER Fluids, pp. 353-367.

Bolter, R. and H. Janocha . 1997. "Design Rules for MR Fluid Actuators in Different Working Modes," Proceedings of the SPIE's 1997 Symposium on Smart Structures and Materials, 3045:148-159.

Choi, S. B. , S. L. Kim , H. G. Lee , and M. H. Nam . 1997. "Position Control of a Moving Table Using ER Clutch and ER Brake," Proceedings of the 6th International Conference on Electro-Rheological Fluids, Magneto-Rheological Suspensions and Their Applications, pp. 661-669.

Furusho, J. and M. Sakaguchi . 1998. "New Actuators Using ER Fluid and Their Applications to Force Display Devices in Virtual Reality and Medical Treatments," Proceedings of the 6th International Conference on Electro-Rheological Fluids, Magneto-Rheological Suspensions and Their Applications, pp. 755-763.

Whittle, M. , R. J. Atkin and W. A. Bullough . 1998. "Dynamics of a Radial Electrorheological Clutch," Proceedings of the 6th International Conference on Electro-Rheological Fluids, Magneto-Rheological Suspensions and Their Applications, pp. 641-648.

Papadopoulos, C. A. 1998. "Brakes and Clutches Using ER Fluids," Mechatronics, 8:719-726.

Ginder, J. M. and S. L. Ceccio . 1995. "The Effect of Electrical Transient on the Shear Stresses in Electrorheological Fluids," J. of Rheology, 39:211-234.