The paper describes the design procedure and software/hardware testing of a nonlinear optimal control of a magnetorheological fluid brake. Experimental evaluations allowed to derive and validate a first order nonlinear dynamic model of the device. The obtained model was employed for the development of a braking torque control system. This one is characterized by a mixed scheme, based on the combined action of feedforward and feedback control. Simulation results confirm the goodness of the proposed control scheme and the first hardware in the loop results are described too.
A nonlinear optimal control of a magnetorheological fluid brake
BRANCATI, RENATO;RUSSO, RICCARDO;TERZO, MARIO
2011
Abstract
The paper describes the design procedure and software/hardware testing of a nonlinear optimal control of a magnetorheological fluid brake. Experimental evaluations allowed to derive and validate a first order nonlinear dynamic model of the device. The obtained model was employed for the development of a braking torque control system. This one is characterized by a mixed scheme, based on the combined action of feedforward and feedback control. Simulation results confirm the goodness of the proposed control scheme and the first hardware in the loop results are described too.File in questo prodotto:
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