Realtime compensation methods for hysteresis based magnetorheological actuators

This paper deals with the design and evaluation of feed forward compensation methods for the hysteresis phenomena applied to magnetorheological actuators to obtain a linearized force characteristic of the actuator. For these aim two compensation algorithms, the Preisach and a modified Prandtl-Ishlinskii approach, are investigated in detail considering a magnetorheological actuator with distinctive hysteresis. In order to proof the effect of the compensation methods the actuator is finally applied in a mechatronic door assistant to evaluate advanced functionality like algorithms for collision avoidance, which requires a precise adjustable braking force.