Suspension Control and Characterization of a Variable Damping Magneto-Rheological Mount for a Micro Autonomous Railway Inspection Car

Abstract

This paper aims to present a suspension control strategy for a semi-active mount with variable damping utilizing a smart magneto-rheological fluid (MRF), which will be applied in a micro autonomous railway inspection car as a primary suspension to protect the inspection equipment from the large suspension vibration on rails. We proposed a new multi-pole structure design for a semi-active magneto-rheological mount (MR mount) that can provide both a high damping force and a wide damping force band. Firstly, the mathematical model of MR mount dynamics was derived; secondly, a skyhook control strategy was developed for the MR mount; and finally, a dynamic simulation problem using Matlab software was constructed to evaluate the performance of the MR mount. The dynamic simulation results showed that the proposed MR mount using a skyhook control strategy showed greater vibration isolation performance compared to conventional passive mounts. In particular, the absolute displacement, velocity, and acceleration of the detector device were reduced by 83.33%, 77%, and 70%, respectively. The suspension vibration transmitted to the inspection device also decreased significantly, compared to input oscillation (i.e., un-sprung mass oscillation). Specifically, the suspension vibration reduced by a half at the excitation frequency of 2-fold the natural frequency and by greater magnitudes at higher excitation frequencies.