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This paper emphases on analyzing and investigating the mechanical behavior of electro-theological fluid (ERF) semi-active damper. Theoretical model was developed to describe the relationship between electric field and the resistance force of ERF flowing through two parallel plane electrodes. In the model, the pressure drop along electrodes was supposed to consist of two parts: one related with viscosity and the other related with dynamic yield shear stress. The concept of yield stress influence factor was developed in deriving the theoretical formula for calculating the pressure drop in the damper. The influences of some other factors, such as, nonideal Newtonian fluid and temperature have also been taken into account. Numerical and experimental work have been performed to prove the validity of the proposed model. The comparison of both results shows that the developed model is quite effective and practicable.