Correction of Constitutive Equation for Magnetorheological Fluid Torque Servo Control

In allusion to the force/position coupling relation of the traditional force control device, this paper introduces a torque servo device whose output torque control is more stable. The output torque model for the torque servo device was established. The magnetorheological fluid (MRF) torque servo device was analyzed in the finite element analysis software. Then correlation between the output torque and the driving speed of the input shaft, the input current was obtained. Finally, the correlation was simplified to the control equation between the output torque and the input current by system identification method. The results indicates that the output torque can be controlled by the input current steadily, and it lays the theoretical foundation for the application of the MRF torque servo device.