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Frontiers of Mechanical Engineering

Front. Mech. Eng.    2014, Vol. 9 Issue (1) : 15-33     https://doi.org/10.1007/s11465-014-0283-0
RESEARCH ARTICLE |
Dynamic characteristics of a magnetorheological pin joint for civil structures
Yancheng LI(),Jianchun LI
Centre for Built Infrastructure Research, Faculty of Engineering and Information Technology, University of Technology Sydney, NSW 2007, Australia
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Abstract

Magnetorheological (MR) pin joint is a novel device in which its joint moment resistance can be controlled in real-time by altering the applied magnetic field. The smart pin joint is intended to be used as a controllable connector between the columns and beams of a civil structure to instantaneously shift the structural natural frequencies in order to avoid resonance and therefore to reduce unwanted vibrations and hence prevent structural damage. As an intrinsically nonlinear device, modelling of this MR fluid based device is a challenging task and makes the design of a suitable control algorithm a cumbersome situation. Aimed at its application in civil structure, the main purpose of this paper is to test and characterise the hysteretic behaviour of MR pin joint. A test scheme is designed to obtain the dynamic performance of MR pin joint in the dominant earthquake frequency range. Some unique phenomena different from those of MR damper are observed through the experimental testing. A computationally-efficient model is proposed by introducing a hyperbolic element to accurately reproduce its dynamic behaviour and to further facilitate the design of a suitable control algorithm. Comprehensive investigations on the model accuracy and dependences of the proposed model on loading condition (frequency and amplitude) and input current level are reported in the last section of this paper.

Keywords Magnetorheological pin joint      hyperbolic hysteresis model experimental testing frequency dependence     
Corresponding Authors: Yancheng LI   
Issue Date: 16 May 2014
 Cite this article:   
Yancheng LI,Jianchun LI. Dynamic characteristics of a magnetorheological pin joint for civil structures[J]. Front. Mech. Eng., 2014, 9(1): 15-33.
 URL:  
http://journal.hep.com.cn/fme/EN/10.1007/s11465-014-0283-0
http://journal.hep.com.cn/fme/EN/Y2014/V9/I1/15
Fig.1  MR pin joint and its application to a civil structure
Fig.2  Working principle of MR pin joint in shear mode
Structural ParametersDimension mm
Shaft radius R112.5
Radius of rotary plate R240
Gap h1
Outer diameter D140
Inner diameter d90
Thickness B40
Tab.1  Structural parameters of the MR pin joint
Fig.3  Magnetic flux line in the MR pin
Fig.4  Magnetic field density in MR pin joint (I=2.0 A)
Fig.5  Experimental setup for MR pin modeling test
Fig.6  Experimental data for 1.0 Hz excitation with an amplitude of 17.65 mm
Fig.7  Experimental data for 2.0 Hz excitation with amplitude of 7.06 mm
Fig.8  Experimental data for 2.0 Hz excitation with various amplitudes (I=2.0 A)
Fig.9  Experimental data for 2.0 Hz excitation with amplitude of 35.2 mm
Fig.10  Experimental data for 1.0 Hz excitation with amplitude of 17.6 mm
Fig.11  Experimental data for 28.2 mm excitations with various loading frequencies (I=0 A)
Fig.12  Rotational hyperbolic hysteresis model
Fig.13  Hyperbolic tangent function
Fig.14  Relationship between main parameters and hysteresis loop
Fig.15  Comparison between the experimental data and the results from the analytical model under different loading conditions (f=3.0 Hz)
Fig.16  Comparison between test data and the proposed hyperbolic hysteresis model (Amplitude=28.2 mm)
Fig.17  Comparison between test data and proposed hyperbolic hysteresis model (Amplitude=7.06 mm)
Fig.18  Comparison between test data and proposed hyperbolic hysteresis model (Amplitude=28.20 mm)
I=0AI=0.5AI=1.0AI=1.5AI=2.0AAverage Error
A=7.06mm0.00190.00590.03220.05450.06780.032460
A=17.65mm0.00350.00860.04460.11200.20380.074500
A=28.2mm0.00310.01790.09450.20770.33420.131480
A=35.2mm0.00170.01990.09400.21450.35140.136300
Average Error0.0025500.0130750.0663250.1471750.2393000.093685
Tab.2  Errors for the proposed model (f=0.1Hz)
I=0AI=0.5AI=1.0AI=1.5AI=2.0AAverage Error
A=7.06mm0.00150.00380.02090.03800.05660.024160
A=17.65mm0.00090.00680.04780.11100.17920.069140
A=28.2mm0.00070.01250.08720.20790.34230.130120
A=35.2mm0.00320.01510.14010.26550.43060.170900
Average Error0.0015750.0095500.0740000.1556000.2521750.098580
Tab.3  Errors for the proposed model (f=0.5Hz)
I=0AI=0.5AI=1.0AI=1.5AI=2.0AAverage Error
A=7.06mm0.00050.00250.01570.02670.03630.016340
A=17.65mm0.00020.00420.03370.09010.16630.058900
A=28.2mm0.00010.00770.07340.19270.32810.120400
A=35.2mm0.00010.00930.08330.21530.47130.155860
Average Error0.0002250.0059250.0515250.1312000.2505000.087875
Tab.4  Errors for the proposed model (f=1.0Hz)
I=0AI=0.5AI=1.0AI=1.5AI=2.0AAverage Error
A=7.06mm0.00020.00220.01430.02360.02960.013980
A=17.65mm0.00030.00350.02910.07210.13670.048340
A=28.2mm0.00020.00650.06480.18300.31090.113080
A=35.2mm0.00070.00550.07150.19160.31960.117780
Average Error0.0003500.0044250.0449250.1175750.1992000.073295
Tab.5  Errors for the proposed model (f=2.0Hz)
Fig.19  Variations of 6 model parameters with coil current for 17.65mm loading excitations at various frequencies (0.1, 0.5, 1.0, 2.0 and 3.0 Hz)
Fig.20  Variations of 6 model parameters with loading frequency for 17.65mm loading excitations at current levels (0, 0.5, 1.0,1.5 and 2.0 A)
Fig.21  Variations of 6 model parameters with coil current for 1.0Hz loading excitations at various amplitude (7.06, 17.65, 28.2 and 35.2 mm)
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