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
Response delay due to pressure build up
Require auxiliary components such as: hydraulic pump,
fluid transfer, brake valve & fluid researvoir)
2 Types of Hydraulic Brake System
 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)
 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
Behavior of MR Fluid
 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
Basic design of MR Brake
Prototype of MR Brake developed in
Autotronics Lab - UTeM
MR Brake Test Rig available in
Autotronics Lab - UTeM
System Modeling
 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

Tm Ts
Where
Tm = torque of the motor
Ts = torque of the shaft
= efficiency of belt-pulley system (96% - 98%)
 b4 J b3 Tmr b2 Ts b1

T J
Ts b1 b2 b3 b4 Tmr J
b1 b2 b3 b4 b
Ts 4b Tmr J
Where
b = viscous damping of the bearing
Tmr = brake torque
J = load moment of inertia
 Torque of MR Brake (Tmr)
MR Fluid behavior

MR Brake Torque Calculation:

Speed control
Case 2: Belt Tensioner off (torque
control or stopping time control)

b4 J b3 Tmr b2 Ts b1

Belt off Ts = 0
 Equations of Motion

T J
b1 b2 b3 b4 Tmr J
b1 b2 b3 b4 b
4b Tmr J

Omega dot negatif: deceleration

Motor Torque (belt tensioner off at t=
4 sec)
Current applied starting from t=4sec)
Stopping time