Current-Pressure Dynamics Modeling on an Annular Magnetorheological Valve for an Adaptive Rehabilitation Device for Disabled Individuals.

Abstract

The dynamic relationship between current and pressure in magnetorheological (MR) valves is essential for the design of adaptive rehabilitation devices aimed at health rehabilitation for disabled individuals, yet it remains under-explored in existing modeling approaches. Accurately capturing this relationship is vital to predict the pressure drop response to current variations, facilitating the development of effective control systems in such rehabilitation applications. This study employs a linear black-box modeling approach to characterize the current-pressure dynamics of an annular MR valve. Experimental data are used to develop a set of transfer function models, with parameters identified through MATLAB's system identification tools, utilizing invariant variable regression and the Levenberg-Marquardt (LM) iteration. The modeling yielded a 14th-order transfer function, labeled TF14, which closely aligns with experimental data, achieving a root mean square error of 12.64%. These findings contribute valuable insights into the current-pressure dynamics of MR valves and establish a foundational model for adaptive rehabilitation devices designed for individuals with disabilities.