In this paper, the authors describe the development of a mathematical model of a controllable vibration damper intended for eventual application to ground-vehicle suspension systems. The damper under investigation employs electro-rheological (ER) fluid as the working medium which enables a continuously variable damping force to be provided in response to an electrical control signal. There are some difficulties inherent in characterizing the ER damper's behaviour which the present study attempts to overcome.The paper begins by describing a novel form of non-dimensionalization which drastically reduces the number of variables required to characterize the quasi-steady behaviour of the ER fluid. The construction of the ER damper is described and, on the basis of physical reasoning, it is shown how a dynamic model can be derived by taking account of ER fluid inertia and compressibility. A recently developed iterative scheme is introduced in order to solve the resulting non-linear equations of motion. The paper concludes with a case study involving the application of the ER damper to controlling the lateral vibrations of a rail vehicle.
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