This paper presents the design of proportional valve with a Permanent Magnet Synchronous Motor (PMSM). The proposed valve is described, and its history is briefly reviewed. Basic equations describing the valve are formulated and its simulation model is implemented in MATLAB-Simulink software. Selected nonlinearities are included in this model. In order to determine the basic parameters of the discussed proportional valve, a test stand is built, which enables valve investigations. In this test stand, a valve control system based on programmable logic controller (PLC) with a touch panel and inverter module is implemented and used for investigations. The valve flow characteristics and step responses obtained in simulations are presented. These characteristics are compared with results obtained in experimental investigations. As a result, the valve simulation model is modified and improved.
This paper presents a study of penetrating a pin into a magnetorheological fluid (MR) cushion focused on the force measurement. The research is supported by detailed finite element analysis (FEA) of the magnetic field distributions in several magnetic field exciters applied to control rheological properties of the MR inside the cushion. The cushion is a part of the finger pad of the jaw soft-rigid gripper and was made of thermoplastic polyurethane (TPU) using 3D printing technology. For the pin-penetrating setup, the use of a holding electromagnet and a magnetic holder were considered and verified by simulation as well as experiment. In further simulation studies, two design solutions using permanent magnets as the source of the magnetic field in the cushion volume to control MR fluid viscosity were considered. The primary aim of the study was to analyze the potential of using an MR fluid in a cushion pad and to investigate the potential for changing its viscosity using different magnetic field sources. The analysis included magnetic field simulations and tests of pin penetration in the cushion as an imitation of object grasping. Thus, an innovative application of 3D printing and TPU to work with MR fluid is proposed.
Semi-active, controllable fluid dampers and their control devices are described and studied in this paper. Such dampers can be used to eliminate oscillations in different servo drive robots and machine tools systems, where their good dynamic parameters are required. In this paper, different control circuits and its influence on MR damper properties are investigated. The experimental results of coil current transients response during switching on and off with different circuits and elements are shown. Construction of the above mentioned damper is described and finally, experimental results of control circuits influence on dampers' dynamic performance are presented.
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