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A phenomenological dynamic model of amagnetorheological damper using a neuro-fuzzy
system
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2013 Smart Mater. Struct. 22 125013
(http://iopscience.iop.org/0964-1726/22/12/125013)
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IOP PUBLISHING SMART MATERIALS AND STRUCTURES
Smart Mater. Struct. 22 (2013) 125013 (14pp) doi:10.1088/0964-1726/22/12/125013
A phenomenological dynamic model of
a magnetorheological damper using a
neuro-fuzzy system
Mohammadjavad Zeinali
1
, Saiful Amri Mazlan
1
,
Abdul Yasser Abd Fatah
1
and Hairi Zamzuri
2
1
VSE Research Laboratory, MalaysiaJapan International Institute of Technology (MJIIT), Universiti
Teknologi Malaysia (UTM), 54100 Kuala Lumpur, Malaysia
2
Razak School of Engineering and Advanced Technology, Universiti Teknologi Malaysia (UTM), Jalan
Semarak, 54100 Kuala Lumpur, Malaysia
E-mail: javad zeynaly@yahoo.com, amri@ic.utm.my, yasser@ic.utm.my and hairi@ic.utm.my
Received 22 August 2013, in nal form 10 October 2013
Published 5 November 2013
Online at stacks.iop.org/SMS/22/125013
Abstract
A magnetorheological (MR) damper is a promising appliance for semi-active suspension
systems, due to its capability of damping undesired movement using an adequate control
strategy. This research has been carried out a phenomenological dynamic model of two MR
dampers using an adaptive-network-based fuzzy inference system (ANFIS) approach. Two
kinds of Lord Corporation MR damper (a long stroke damper and a short stroke damper) were
used in experiments, and then modeled using the experimental results. In addition, an
investigation of the inuence of the membership function selection on predicting the behavior
of the MR damper and obtaining a mathematical model was conducted to realize the
relationship between input current, displacement, and velocity as the inputs and force as
output. The results demonstrate that the proposed models for both short stroke and long stroke
MR dampers have successfully predicted the behavior of the MR damper with adequate
accuracy, and an equation is presented to precisely describe the behavior of each MR damper.
(Some gures may appear in colour only in the online journal)
1. Introduction
The capability of a magnetorheological (MR) damper as a
semi-active system to produce high force capacity and wide
dynamic range has attracted researchers to focus more on
MR dampers. Some comprehensive reviews have considered
a wide variety of studies involving MR dampers: design and
modeling for a rotary MR damper (Imaduddin et al 2013) and
structure design and analysis (Zhu et al 2012).
Figure 1 shows a schematic of an MR damper with an
accumulator. The applied input current produces a magnetic
ux in which the ux lines are perpendicular to the
symmetric axis (the horizontal line in gure 1). The produced
magnetic eld inuences MR uid particles to increase the
MR uid viscosity in terms of magnetic ux density (the
magnied ellipse in gure 1). This phenomenon generates
a complex relation between the effective input parameters
such as displacement, which represents the behavior of the
accumulator as a spring, velocity, which corresponds to the
damping behavior of the MR damper, and input current.
To control an MR damper, an accurate mathematical
model of the MR damper must be implemented in the
controlling strategy to describe this complex relationship. The
multi-physics and nonlinearity behaviors of an MR damper
create a challenging objective in order to achieve the most
precise model. All designed models can be divided into two
different types: predictive quasi-static and phenomenological
dynamic models. In predictive quasi-static modeling, the
conventional model is the Bingham model, which is utilized in
much research (Bhatnagar 2013, Yang et al 2002, Chew et al
2006). The HershelBulkley model has been presented with
a higher accuracy (Wang and Gordaninejad 2007). Between
1 0964-1726/13/125013+14$33.00
c
2013 IOP Publishing Ltd Printed in the UK & the USA
Smart Mater. Struct. 22 (2013) 125013 M Zeinali et al
Figure 1. Schematic of an MR damper model.
Figure 2. (a) BoucWen model. (b) Modied BoucWen model (Spencer et al 1997).
these models, the phenomenological dynamic model produces
a thorough characterization of an MR damper. This type of
model outperforms the predictive quasi-static model in all
aspects of the damper, such as forcevelocity behavior.
The BoucWen model has been used widely as a
phenomenological dynamic model in a large number of
studies (Weber 2013, Ismail et al 2009) (see gure 2(a)).
Spencer et al (1997) presented a modied BoucWen model
which is based on a mixture of elastic springs and a viscous
damper (see gure 2(b)). Spaggiari and Dragoni (2012)
suggested an efcient dynamic model in which the proposed
model by Spencer et al (1997) is modied to investigate a
simpler and efcient model.
There are number of studies which modeled RD-8040-1
(short stroke) and RD-8041-1 (long stroke) MR dampers
using a feed-forward neural network (Ekkachai et al 2011), a
time-delayed adaptive-network-based fuzzy inference system
(ANFIS) model under high impact forces (Sarp Arsava et al
2013), and a polynomial model (Bin Pokaad and Nasir 2011).
In recent years, the outstanding learning capability of fuzzy
systems and neural networks has led researchers to apply these
approaches in predicting the complex relationship between
MR damper parameters (Patil et al 2012, Azwadi et al
2013, G uneri et al 2011). In addition, the model of the MR
damper can be used in control strategies and simulation of
semi-active suspension systems. Therefore, the response time
(fast solution) and accuracy of the model are priority targets
to utilize in the suspension system. Both mentioned targets
can be achieved by the ANFIS approach due to its capability
to quickly predict the phenomena with reasonable accuracy
(Jang 1993, Nazari et al 2012).
In this study, an ANFIS approach is implemented to
achieve an accurate prediction of the MR damper force by
using the input current, unwanted displacement, and unwanted
velocity as the prediction systems inputs. In the vehicle
semi-active suspension system, the unwanted displacement
and velocity are equivalent to displacement and velocity. The
ANFIS model has been trained by the experimental results of
testing the magnetorheological damper under various speeds
and input currents.
This paper is structured as follows. The experimental
setup is explained in section 2. In section 3, the ANFIS
method and parameters are described. Section 4 gives the
2
Smart Mater. Struct. 22 (2013) 125013 M Zeinali et al
Table 1. Specication of variables in the experiment.
Input Short stroke MR damper Long stroke MR damper
Displacement (mm) 5 10
Frequency (Hz) 3.2, 6.3, 9.5, 12.6 1.6, 3.2, 4.8, 6.3, 7.9
Current (A) 0, 0.1, 0.2, 0.3, 0.4, 0.6, 0.8, 1 0, 0.1, 0.2, 0.3, 0.4, 0.6, 0.8, 1
Figure 3. Side view of RD-8040-1 and RD-8041-1 MR dampers.
prediction results, and the accuracy of the ANFIS approach
is discussed. Conclusions are presented in section 5.
2. Experimental setup
Two types of MR damper are investigated in this study,
RD-8040-1 (short stroke) and RD-8041-1 (long stroke),
shown in gure 3, supplied by Lord Corporation. The
difference between these two products is the length of
the stroke, which is related to the application of the
damper. However, the function of the dampers is similar
and helps validate the proposed ANFIS model. The length
of the dampers at full extension is 207.8 1.9 mm and
248.15 2.25 mm for the short stroke MR damper and the
long stroke MR damper, respectively. The stroke length is
55.45 0.65 mm and 73.7 0.7 mm in the short and long
strokes, respectively. The maximumvalue for the input current
exerted to the coils is 2 A.
The experiments were done using a damper test system
MTS 850, which is shown in gure 4. The experimental
results were evaluated and developed in the vehicle system
engineering laboratory at Universiti Teknologi Malaysia
(UTM). The test rig is able to measure three parameters of
the damper (relative displacement, velocity, and damper force)
by using a transducer and a load cell. Figure 4 shows the
experimental setup, the MR damper, and a device controller
provided by Lord Corporation to control the input current
of the coils. Table 1 presents the input variables in the
experiment, which are displacement, frequency, and input
current. There are three signicant parameters, which are the
variation of displacement, velocity, and peak velocity, during
each test. As can be seen in table 1, the displacement is varied
from 5 to +5 mm for the short stroke damper and from
10 to +10 mm for the long stroke damper. The frequencies,
in table 1, represent the variation of both velocity and peak
velocity. As as example, the 1.6 value of frequency for the
long stroke MR damper shows that the velocity is varied from
0.1 to 0.1 m s
1
and that the magnitude of the peak velocity
is 0.1 m s at a displacement of 0 mm. Thus, the initial position
of the piston is in displacement of 5 mm for short stroke
Figure 4. Experimental setup for testing short and long stroke MR
dampers.
MR damper and displacement of 10 mm for long stroke
MR damper. The actual and predicted values of damping
force in terms of displacement, velocity and peak velocity are
shown in section 4. The input variables have been specied
for each MR damper on the basis of the specications of each
individual damper.
3. ANFIS model
The ANFIS model is a combination of a fuzzy system
and a neural network to accurately predict the behavior of
nonlinear and complex relationships in a phenomenon (Jang
1993). An ifthen rule is employed in this model, proposed
by Takagi and Sugeno (1985). This structure comprises
ve layers, which are the input membership function, rule
layers (layers 2 and 3), output membership function, and
summation layer. In this study, three inputs, namely the input
current, displacement, and velocity, were assumed to realize
the amount of force as output (see gure 5). The inputs
were divided into various spaces by different membership
functions (MFs), as shown in tables 2 and 3. In the rst
layer, the parameters of the input MFs which describe the
conguration of the MFs are dened; these parameters are
called premise parameters. An AND rule was utilized to
multiply the incoming signals fromthe rst layer to the second
layer. The general equation of this layer can be written as
w
i
=
A
i
(I)
B
i
(d)
C
i
(v), (1)
where w
i
is the output of each second layers node and
A
i
,

B
i
, and
C
i
are the incoming signals from the applied MFs
3
Smart Mater. Struct. 22 (2013) 125013 M Zeinali et al
Figure 5. Schematic of the ANFIS method.
on the inputs (input current (I), displacement (d), and velocity
(v)) to the individual second layers node.
In the third layer, the relative value of each rule weight is
acquired by dividing w
i
by the total amount of all rule weights:
w
i
=
w
i

n
i=1
(w
i
)
, (2)
where w
i
is the relative rule weight of ith node.
The proposed Takagi and Sugeno ifthen rule is applied
in this layer (Takagi and Sugeno 1985), whereby the node
function of the fourth layer is
w
i
f
i
= w
i
(p
i
I +q
i
d +r
i
v +s
i
), (3)
where p
i
, q
i
, r
i
, and s
i
are the corresponding coefcients of
each input in the ifthen rule and are known as consequent
parameters. The premise and consequent parameters are the
adjustable parameters of the ANFIS structure which are
placed in different layers.
The overall output is obtained in the last layer by
aggregating the incoming signals from layer 4. In this
structure, a hybrid algorithm of gradient descent and
least square estimates is employed to update the premise
parameters in the rst layer and consequent parameters in the
fourth layer, respectively.
3.1. Membership function selection
Various congurations of MFs are used to investigate the best
type and number of MFs for all inputs by comparing the least
root mean square error (RMSE). The RMSE can be calculated
as
RMSE =

1
N
N

i=1
(Actual Force Predicted Force)
2
, (4)
where N is the number of testing sets.
In this aim, two diverse types of membership function,
(bell shaped and Gaussian shaped), and 64 combinations of
number of MFs are employed in order to realize the most
accurate model (see tables 2 and 3). It can be noted that
the RMSE value for 6-6-6 input MFs (bell shaped) in the
short stroke damper is extremely close to the RMSE value
for 4-6-6 input MFs (Gaussian shaped), while its number of
rules is many more than the second conguration, and it will
be shown that the rules of the second conguration can be
simplied. Therefore, the conguration of 4-6-6 input MFs
with Gaussian-shaped MF has been selected for the short
stroke damper. In the long stroke MR damper, the best ANFIS
structure is similar to the structure of the selected ANFIS
model in the short stroke MR damper, which is 466 input
MFs with Gaussian-shaped function as the input membership
function.
All proposed ANFIS approaches were trained for 1000
epochs to generate the structure. Figure 6 shows the
convergence trend of the RMSE for the training data in terms
of number of epochs for both MR dampers. The experimental
data are split into two different data sets, training and testing
data sets. Seventy per cent of the experimental data are
randomly selected to train the ANFIS structures, and the
remaining data are used to evaluate the constructed ANFIS
structures. The selected ANFIS models produce 144 ifthen
rules for both short stroke and long stroke MR dampers.
4. Results and discussion
A study of the prediction of two magnetorheological
dampers has been carried out by examining diverse ANFIS
model congurations. The selected ANFIS models for
both short stroke and long stroke MR dampers have
the same congurations of 4-6-6 MFs for inputs with a
Gaussian-shaped membership function. Figures 7 and 8 depict
the plots of force in terms of displacement at 1.6 and 3.2 Hz
frequencies for the long stroke MR damper and the short
stroke MR damper, respectively. The input current is varied
from 0 to 1 A. As can be seen, the values of force have been
4
Smart Mater. Struct. 22 (2013) 125013 M Zeinali et al
Table 2. Conguration of MFs applied in the ANFIS model. (Note: a, b, c, and are the MF parameter sets.)
Membership
function Equation Figure
Gaussian shaped
e

(xc)
2
2
2
Bell shaped
1
1+

xc
a

2b
Table 3. Comparison of output RMSE for diverse numbers and types of MF.
Number of
MFs for Short stroke Long stroke Number of MFs for Short stroke Long stroke
(I) (d) (v)
Bell
shaped
Gaussian
shaped
Bell
shaped
Gaussian
shaped (I) (d) (v)
Bell
shaped
Gaussian
shaped
Bell
shaped
Gaussian
shaped
3 3 3 111.08 124.60 147.59 151.31 5 3 3 108.89 118.97 160.87 171.39
3 3 4 95.07 78.54 94.37 64.33 5 3 4 89.21 104.08 66.77 124.29
3 3 5 99.54 106.22 102.08 127.48 5 3 5 106.25 106.07 112.89 80.69
3 3 6 85.92 72.36 64.33 105.33 5 3 6 93.90 97.14 73.17 97.88
3 4 3 105.67 123.10 146.39 142.14 5 4 3 110.49 120.37 157.38 147.66
3 4 4 84.70 92.95 66.60 110.04 5 4 4 88.62 77.97 97.80 77.52
3 4 5 96.49 79.49 55.94 102.08 5 4 5 96.03 71.12 106.00 91.60
3 4 6 71.17 84.08 68.13 59.55 5 4 6 85.48 90.09 72.51 55.54
3 5 3 105.49 111.02 156.92 142.45 5 5 3 106.80 109.00 155.63 138.63
3 5 4 75.24 65.41 80.52 63.11 5 5 4 74.91 70.11 77.66 101.12
3 5 5 78.64 74.31 75.83 81.25 5 5 5 78.40 82.65 100.86 83.12
3 5 6 71.26 66.02 68.24 57.46 5 5 6 65.44 80.21 63.31 74.16
3 6 3 115.53 99.90 151.11 139.31 5 6 3 115.74 100.32 142.01 141.16
3 6 4 66.10 74.86 75.89 66.60 5 6 4 66.41 75.74 61.75 71.13
3 6 5 72.52 75.81 76.33 82.08 5 6 5 77.56 76.99 73.19 79.87
3 6 6 64.05 69.52 64.88 71.77 5 6 6 65.52 71.02 51.32 54.34
4 3 3 110.88 130.59 155.79 170.33 6 3 3 104.35 117.80 152.81 169.55
4 3 4 95.91 103.85 89.89 124.38 6 3 4 94.73 106.75 69.56 79.62
4 3 5 85.74 81.38 85.45 95.87 6 3 5 106.02 104.20 83.83 117.62
4 3 6 94.26 92.04 66.28 102.27 6 3 6 97.66 99.52 75.58 63.71
4 4 3 129.40 124.32 154.27 127.98 6 4 3 109.97 129.43 164.33 149.57
4 4 4 86.60 69.74 87.97 72.05 6 4 4 90.43 78.50 90.35 58.00
4 4 5 71.17 93.71 70.39 86.85 6 4 5 97.44 92.33 101.52 92.51
4 4 6 80.93 90.33 52.80 59.00 6 4 6 86.26 94.33 73.07 61.10
4 5 3 104.55 111.66 150.65 139.28 6 5 3 107.46 109.63 155.11 137.50
4 5 4 67.90 83.69 83.01 61.55 6 5 4 68.31 85.24 74.65 62.67
4 5 5 87.78 86.65 83.02 83.24 6 5 5 65.08 88.62 98.89 83.93
4 5 6 74.39 75.78 54.93 53.44 6 5 6 77.55 64.48 67.17 62.37
4 6 3 103.01 100.31 160.58 124.89 6 6 3 116.94 100.50 148.92 141.51
4 6 4 63.20 75.20 70.76 94.74 6 6 4 66.05 76.28 63.18 51.68
4 6 5 77.87 76.56 79.71 83.86 6 6 5 77.72 77.53 98.68 85.03
4 6 6 64.21 60.47 60.66 48.26 6 6 6 59.34 71.86 67.52 73.17
5
Smart Mater. Struct. 22 (2013) 125013 M Zeinali et al
Figure 6. Training data RMSE versus number of epochs. (a) Long stroke MR damper. (b) Short stroke MR damper.
Figure 7. Force versus displacement in different currents for the
long stroke MR damper.
successfully predicted in the whole range of displacement
from 10 to 10 mm for the long stroke damper and 5 to
5 mm for the short stroke damper.
It is obvious that the numerical result of force versus
displacement in the long stroke MR damper (gure 7) has
better agreement with the experimental result than is the
case for the numerical result of the short stroke MR damper
(gure 8). In particular, the proposed ANFIS model of
the long stroke MR damper outperforms the short stroke
MR dampers model around displacement boundaries. These
portions of displacement can be dened as the last 20%
of both positive and negative displacements in which the
direction of motion is going to be changed.
Displacement is one of the effective input parameters
of the force produced by the damper that is considered in
the proposed ANFIS model. All effective input parameters
must be assessed to entirely evaluate the performance of the
proposed prediction models.
Velocity is another effective parameter which has been
applied as an input of the ANFIS model. Figures 9 and 10
show the predicted force in terms of velocity in different input
Figure 8. Force versus displacement in different currents for the
short stroke MR damper.
Figure 9. Force versus velocity in different currents for the long
stroke MR damper.
currents. As can be seen, the prediction results which are close
to peak velocities in each input current outperform the other
velocities.
6
Smart Mater. Struct. 22 (2013) 125013 M Zeinali et al
Figure 10. Force versus velocity in different currents for the short
stroke MR damper.
Figure 11. Force versus peak velocity in different currents for the
long stroke MR damper.
Figure 12. Force versus peak velocity in different currents for the
short stroke MR damper.
Figures 11 and 12 demonstrate the accuracy of the
prediction model in the long stroke MR damper and the short
stroke MR damper, respectively. These gures show that both
Figure 13. Regression plot of the prediction model for the long
stroke MR damper.
Figure 14. Regression plot of the prediction model for the short
stroke MR damper.
Table 4. The applicable intervals of the MR damper inputs.
Input
current, I (A)
Displacement,
d (m)
Velocity,
v (m s
1
)
Short stroke MR
damper
[0 1] [0.005 0.005] [0.4 0.4]
Long stroke MR
damper
[0 1] [0.01 0.01] [0.5 0.5]
prediction models have precisely predicted the force in terms
of peak velocity for every input current.
In addition, a regression analysis is provided between
the actual force and predicted force for further evaluation.
Figure 13 shows the comparison of the actual force and
predicted force values for the long stroke MR damper
with a regression value of 0.9989. Figure 14 shows the
comparison of the actual force and predicted force values for
the short stroke MR damper with a regression value of 0.9961.
Therefore, the regression plots demonstrate the trustable
ability of the proposed model in predicting the force with
respect to the actual value of the force which is obtained by
experiment.
Among models presented in previous studies, the
accuracy of the proposed model is compared to that of
the Bingham, BoucWen, polynomial, and neural network
models. It is obvious that the Bingham model is unable to
predict the nonlinear hysteresis behavior of an MR damper.
Spencer et al presented a modied BoucWen model with
7
Smart Mater. Struct. 22 (2013) 125013 M Zeinali et al
Figure 15. Plots of long stroke MR damper MFs ((a), (c) and (e)) and short stroke MR damper MFs ((b), (d) and (f)).
Table 5. The values of the premise parameters for the short stroke
MR damper.
Input MF c
Current 11 0.141 75 0.000 19
12 0.141 53 0.333 39
13 0.141 71 0.666 10
14 0.141 87 0.999 76
Displacement 21 0.00270 0.01840
22 0.000 87 0.000 61
23 0.000 23 0.013 49
24 0.003 45 0.018 01
25 0.001 46 0.016 89
26 0.003 49 0.021 49
Velocity 31 0.069 07 0.395 20
32 0.068 54 0.235 92
33 0.056 77 0.081 32
34 0.058 60 0.081 61
35 0.068 94 0.236 04
36 0.068 72 0.394 97
14 parameters which need to be obtained by curve tting
of experimental results (Spencer et al 1997). In this model,
the number of parameters is much less than in the ANFIS
model. In addition, the methods of obtaining the parameters
of the ANFIS model are more precise and faster than in the
BoucWen model. Choi et al proposed a polynomial model
Table 6. The values of the premise parameters for the long stroke
MR damper.
Input MF c
Current 11 0.141 71 0.000 19
12 0.141 21 0.333 20
13 0.142 09 0.665 76
14 0.142 20 0.999 50
Displacement 21 0.000 75 0.014 87
22 0.000 80 0.019 03
23 0.001 47 0.002 26
24 0.000 45 0.013 69
25 0.005 68 0.035 66
26 0.001 41 0.015 69
Velocity 31 0.091 33 0.525 11
32 0.093 82 0.310 41
33 0.064 50 0.109 54
34 0.066 68 0.120 83
35 0.092 48 0.323 42
36 0.090 99 0.536 64
to describe the behavior of an MR damper (Choi et al 2001).
This model has successfully predicted the nonlinear behavior
of an MR damper. The capability of the ANFIS model is
to predict all damping, stiffness, and hysteresis behavior of
a damper in the whole input range, while the polynomial
model cannot accurately predict the damper as well as the
8
Smart Mater. Struct. 22 (2013) 125013 M Zeinali et al
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Smart Mater. Struct. 22 (2013) 125013 M Zeinali et al
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Smart Mater. Struct. 22 (2013) 125013 M Zeinali et al
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Smart Mater. Struct. 22 (2013) 125013 M Zeinali et al
ANFIS model can. The graphs of damping force in terms
of displacement, velocity, and peak velocity, gures 712,
illustrate the accuracy of the proposed ANFIS model in
comparison with other articial intelligent models such as a
neural network (Wang and Liao 2005).
In damping force criteria, the accuracy of the control
system is directly related to the damper model (Choi et al
2001). To illustrate this, Choi et al presented an open-loop
control system to examine the performance of the control
strategy by using a polynomial model (Choi et al 2001). The
future work of this study is to implement the proposed model
in a control strategy and show the improvement of controller
performance by using the ANFIS model.
The accuracy of the proposed prediction models in terms
of input current supplied to coils has been examined in parallel
with assessing the prediction performance of force versus
displacement (gures 7 and 8) and velocity (gures 9 and 10).
The last section presents the examination of various
ANFIS model congurations. Therefore, the most accurate
ANFIS model is obtained by comparing the root mean square
error of all experimental data. The graphs of the input MFs
for the selected ANFIS model of short stroke and long stroke
dampers are shown in gure 15.
As can be seen in gures 15(c) and (d), the output values
of MF21, MF22, MF24, MF25, and MF26 for both short
stroke and long stroke MR dampers are close to zero in
specied displacements. In addition, the premise parameters
for both MR dampers are similar, and show that the general
behavior of the short stroke MR damper is extremely close to
that of the long stroke MR damper.
Another signicant characteristic is the consequent
parameters. A study of the effect of each layers consequent
parameters showed that a number of each layers consequent
parameters have no inuence on the predicted output, due
to their small value. Therefore, the relationship between
the force (as the output) and the inputs was simplied
by eliminating ineffectual rules because of the insignicant
values of the consequent parameters. All rules related to
MF23 and MF25 in the short stroke MR damper model
and MF22 and MF24 in the long stroke MR damper
model were eliminated; the result of the prediction model
remained constant. The consequent parameters for the rules
in accordance with MF23 and MF25 are extremely small, and
eliminating them helps simplify the equation of the prediction
model.
Equation (5) can be used to obtain the predicted damping
force in terms of input current (I), displacement (d), and
velocity (v) in specied intervals (see table 4).
F =

i=1
6

j=1
6

k=1
(
1i

2j

3k
)
(p
36(i1)+6(j1)+k
I + q
36(i1)+6(j1)+k
d
+ r
36(i1)+6(j1)+k
v +s
36(i1)+6(j1)+k
)

i=1
6

j=1
6

k=1
(
1i

2j

3k
)

1
, (5)
where is the Gaussian-shaped membership function (see
table 2) of the input MFs and the parameters of the input MFs
are given in tables 5 and 6 and drawn in gure 5. p, q, r and s
are the consequent parameters. Both premise and consequent
parameters are shown in tables 58.
5. Conclusion
In this research, a phenomenological dynamic model is
presented for short stroke and long stroke MR dampers using
an adaptive-network-based fuzzy inference system (ANFIS)
approach. The structure of the proposed models is identical
with diverse values of parameters. Short stroke and long
stroke MR dampers supplied by Lord Corporation were used
in the experiments, and the results obtained were used to
construct the ANFIS structure. In addition, a study of the
effect of membership function selection, premise parameters,
and consequent parameters on realizing the most accurate and
simplied relationship between the inputs and the outputs of
the MR dampers was done. The results show that the proposed
prediction models for both short stroke and long stroke MR
dampers can precisely predict the MR dampers behavior. An
equation was presented to numerically describe the proposed
models for each MR damper.
Acknowledgments
The authors would like to thank the MalaysiaJapan
International Institute of Technology through the Ministry
of Higher Education (MOHE), Exploratory Research Grant
Scheme (ERGS) Grant No. 9L094, for supporting this
research.
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