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Magnetorheological (MR) Brake System

Magnetorheological (MR) Brake System. Dr. Khisbullah Hudha. Problems with Conventional Hydraulic Brake System. High energy consumptions Bulky Problems with leakage in hydraulic line Brake noise due to metal-with-metal friction Brake pad need to be replaced periodically

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Magnetorheological (MR) Brake System

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  1. Magnetorheological (MR) Brake System Dr. KhisbullahHudha

  2. Problems with Conventional Hydraulic Brake System • High energy consumptions • Bulky • Problems with leakage in hydraulic line • Brake noise due to metal-with-metal friction • Brake pad need to be replaced periodically • Response delay due to pressure build up • Require auxiliary components such as: hydraulic pump, fluid transfer, brake valve & fluid researvoir)

  3. 2 Types of Hydraulic Brake System

  4. Why Magnetorheological Brake • Low power requirement (only several ampere) • Simple design & construction • Hydraulic free: no hydraulic line & need less space requirement • No metal-with-metal friction • No brake pad needed • Easy to control (potential to be used for brake-by-wire (BBW) system) • Fast response (0.02 second)

  5. Components of MR Fluid • Iron Particle: micron or nano size • Carrier fluids: synthetic oil, silicone or water • Binder Material (to prevent the iron particles from settling down): special grease

  6. Behavior of MR Fluid

  7. MR Fluid • MR fluids are created by adding micron-sized iron particles to an appropriate carrier fluid such as oil, water or silicon. • Their rheological behavior is almost the same as that of the carrier when no external magnetic field is present. • When exposed to a magnetic field, the iron particles acquire a dipole moment aligned with the applied magnetic field to form linear chains parallel to the field

  8. Basic design of MR Brake

  9. Prototype of MR Brake developed in Autotronics Lab - UTeM

  10. MR Brake Test Rig available in Autotronics Lab - UTeM

  11. System Modeling

  12. Equations of Motion • Case 1: Belt tensioner on (Speed Control) - Torque of the motor will be transferred to the driven shaft via belt-pulley system Where Tm = torque of the motor Ts = torque of the shaft h = efficiency of belt-pulley system (96% - 98%)

  13. Where b = viscous damping of the bearing Tmr = brake torque J = load moment of inertia

  14. Torque of MR Brake (Tmr) • MR Fluid behavior • MR Brake Torque Calculation:

  15. Speed control

  16. Case 2: Belt Tensioner off (torque control or stopping time control) Belt off Ts = 0

  17. Equations of Motion Omega dot negatif: deceleration

  18. Motor Torque (belt tensioner off at t= 4 sec)

  19. Current applied starting from t=4sec)

  20. Stopping time

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