Hindawi Publishing Corporation

Advances in Mechanical Engineering

Volume 2014, Article ID 629386, 12 pages
http://dx.doi.org/10.1155/2014/629386

Research Article
Viscoelastic Parameter Model of Magnetorheological Elastomers
Based on Abel Dashpot

Fei Guo, Cheng-bin Du, and Run-pu Li

Department of Engineering Mechanics, Hohai University, Nanjing 210098, China

Correspondence should be addressed to Cheng-bin Du; cbdu@hhu.edu.cn

Received 3 March 2014; Accepted 30 March 2014; Published 17 April 2014

Academic Editor: Weihua Li

Copyright © 2014 Fei Guo et al. This is an open access article distributed under the Creative Commons Attribution License, which
permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

In this paper, a parametric constitutive model based on Abel dashpot is established in a simple form and with clear physical meaning
to deduce the expression of dynamic mechanical modulus of MREs. Meanwhile, in consideration for the pressure stress on MREs
in the experiment of shear mechanical properties or the application to vibration damper, some improvements are made on the
particle chain model based on the coupled field. In addition, in order to verify the accuracy of the overall model, five groups of
MREs samples based on silicone rubber with different volume fractions are prepared and the MCR51 rheometer is used to conduct
the experiment of dynamic mechanical properties based on frequency and magnetic field scanning. Finally, experimental results
indicate that the established model fits well with laboratory data; namely, the relationship between the dynamic modulus of MREs
and changes in frequency and magnetic field is well described by the model.

1. Introduction density [9] on mechanical properties and magnetorheological

Magnetorheological elastomers (MREs) constitute an impor-
tance branch of magnetorheological smart materials and are
viscoelastic materials formed after micron-sized soft mag-
netic particles are dispersed in viscoplastic high-molecular
polymer matrix and then cured after being placed in a
magnetic field with certain intensity. Properties of MREs
such as mechanics, magnetics, and electrics vary with the
external magnetic field and thus realize the controllable
performance. As the solid-state analog of magnetorheological
fluids (MRFs), MREs have overcome MRFs shortcomings
of settlement and bad sealing stability and have become a
hot spot of magnetorheological materials in recent years.
However, the current study of MREs is still under the phase of
laboratory study, and few MREs and corresponding vibration
dampers are applied in practical engineering. Based on
different soft magnetic materials and matrix materials [1, 2]
and different particle diameters and volume fractions [3, 4],
researchers have designed and prepared different types of
MREs [5, 6] and studied the effects of MREs thickness [7],
ferromagnetic particle distribution [8], and magnetic flux
effect; in terms of studies on the working mechanism,
researchers mainly focus on studying MREs micromodels
[10, 11], so as to discuss its macromechanical properties. In
order to facilitate the design of MREs vibration damper,
the viscoelastic constitutive relation of MREs must be built;
however, at present, relevant studies are only limited to the
classical viscoelastic model theories of three elements, four
elements, and five elements [12].
Although classical viscoelastic model theories are easy
to understand and have clear physical concepts, they fail to
fit well with laboratory data in describing the mechanical
behavior of viscoelastic materials. In addition, consider-
ing the deformation of high polymer materials is strongly
dependent on time and temperature, the classical viscoelastic
model will not work well; however, disadvantages of classical
viscoelastic model are much remedied by fractional calculus.
Based on experimental results, Gemant [13] advised that
the fractional derivative should be adopted in the establish-
ment of material model; Bagley and Torvik [14] studied the
three-dimensional constitutive relation of fractional deriva-
tive, restrictions of thermodynamics on model parameters,
2 Advances in Mechanical Engineering

and finite element method; Wu and Shangguan [15] adopted ① E0 ②𝜂

the viscoelastic fractional derivative model to establish the
dynamic mechanical model of rubber vibration isolator.
𝜎1 , 𝜀1 𝜎1 , 𝜀2
In this paper, based on viscoelastic mechanical behavior
of matrix and variation characteristics of magneto-induced 𝜎 𝜎
modulus of MREs, Abel dashpot is used to substitute for ③ Em
the classical Newton dashpot. Meanwhile, a parametric
constitutive model based on fractional calculus and able
𝜎2 , 𝜀
to describe dynamic mechanical property of MREs is con-
structed. Finally, experimental results verify that the model Figure 1: Parametric constitutive model of MREs.
is accurate.

2. Theory is Abel core, and “∗ ” denotes Stieltjes generalized convolu-

tion.
2.1. Mathematical Expression of Fractional Calculus. At The Fourier transform related to fractional calculus is as
present, the fractional calculus has many definitions but follows:
has no unified form. Riemann-Liouville fractional calculus
operator is widely used in viscoelasticity constitutive relation, 𝐹 [𝐷𝛼 𝑓 (𝑡)] = (𝑖𝜔)𝛼 𝑓 (𝜔) , (6)
and its basic definition is expressed as follows [16].
𝛼 order integral of function 𝑓(𝑡) is defined as where 𝜔 denotes the angular frequency and that transform
can realize the shift from time domain to frequency domain.
𝑑−𝛼 𝑓 (𝑡) 𝑡
(𝑡 − 𝜏)𝛼−1
𝐷−𝛼 𝑓 (𝑡) = = ∫ 𝑓 (𝜏) 𝑑𝜏. (1)
𝑑𝑡−𝛼 0 Γ (𝛼) 2.2. Parametric Constitutive Model of MREs. Without the
action of external magnetic field, dynamic mechanical prop-
And its 𝛼 order differential is defined as erties displayed by MREs are identical with those of general
𝑑𝛼 𝑓 (𝑡) viscoelastic materials [17]. When the matrix is vulcanized
𝐷𝛼 𝑓 (𝑡) =
𝑑𝑡𝛼 and formed, soft magnetic particles, after being cured in the
magnetic field, are arranged into ordered chain structure and
𝑑𝑛
= [𝐷−(𝑛−𝛼) 𝑓 (𝑡)] locked into matrix; however, at the macrolevel, those particles
𝑑𝑡𝑛 can be considered as continuous and homogeneous materials
(2) and equivalent to filling particles in traditional elastomers.
𝑑𝑛 𝑡
(𝑡 − 𝜏)𝑛−𝛼−1
= [∫ 𝑓 (𝜏) 𝑑𝜏] When an external magnetic field is applied, soft magnetic
𝑑𝑡𝑛 0 Γ (𝑛 − 𝛼) particles will undergo the nonlinear magnetization, and the
magnetic force between particles will be enhanced. Hence,
𝑑𝑛 𝑡
𝜏𝑛−𝛼−1
= [∫ 𝑓 (𝑡 − 𝜏) 𝑑𝜏] , if the intensity of external magnetic field is changed, the
𝑑𝑡𝑛 0 Γ (𝑛 − 𝛼) additional moduli generated by magnetic field will vary with
where 𝛼 > 0 and 𝑛 − 1 ≤ 𝛼 ≤ 𝑛, and 𝑛 is a positive integer. it. Since Abel dashpot model not only retains theoretical
If 𝑛 = 1, then (2) will be transformed into advantages of the classical viscoelastic models, but also
overcomes other disadvantages, better results will be obtained
𝑑 𝑡 𝜏−𝛼 by combining few elements. Hence, Abel model element,
𝐷𝛼 𝑓 (𝑡) = ∫ 𝑓 (𝑡 − 𝜏) 𝑑𝜏
𝑑𝑡 0 Γ (1 − 𝛼) ordinary spring element, and nonlinear spring element are
combined in series and parallel to establish MREs parametric
𝑑 𝑡 constitutive model.
= ∫ 𝐼 (𝜏) 𝑓 (𝑡 − 𝜏) 𝑑𝜏
𝑑𝑡 0 𝛼 The parametric constitutive model representing MREs
𝑡 viscoelastic mechanical behavior and magneto-induced char-
𝑑
= 𝐼𝛼 (𝑡) 𝑓 (0) + ∫ 𝐼𝛼 (𝜏) 𝑓 (𝑡 − 𝜏) 𝑑𝜏 = 𝐼𝛼 (𝑡)∗ 𝑑𝑓, acteristics is shown in Figure 1.
0 𝑑𝑡 In Figure 1, element A is Hooke spring, essentially the
(3) ideal elastomer. Without regard to the inertial effect, its stress-
where Γ(𝑥) is the gamma function and satisfies strain constitutive relation conforms to 𝜎1 = 𝐸0 𝜀1 (𝑡).
Element B is Abel dashpot, and its constitutive relation
∞
[18] is expressed as 𝜎1 = 𝜂𝐷𝛼 [𝜀2 (𝑡)], where 𝜂 denotes the
Γ (𝑥) = ∫ 𝑡𝑥−1 𝑒−𝑡 𝑑𝑡, Γ (1 + 𝑥) = 𝑥Γ (𝑥) ,
0 (4) viscosity coefficient of Abel dashpot. When 𝛼 = 1, Abel
dashpot is simplified into Newton dashpot element; generally,
Γ (𝑛 + 1) = (𝑛) Γ (𝑛) = 𝑛! the value of 𝛼 in Abel dashpot is 0 < 𝛼 < 1.
Consider Element C is the nonlinear spring element representing
−𝛼
magneto-induced characteristics of MREs, and its stress-
{ 𝑡 , 𝑡>0 strain constitutive relation is expressed as 𝜎2 = 𝐸𝑚 𝜀(𝑡), where
𝐼𝛼 (𝑡) = { Γ (1 − 𝛼) (5) 𝐸𝑚 is the magneto-induced modulus related to external mag-
{0, 𝑡≤0 netic field and MREs strain. Relevant study results indicate
Advances in Mechanical Engineering 3

that the value of the modulus hardly varies with frequency The storage modulus of MREs is
and produces little damping effect on MREs [19].
Mechanical properties of viscoelastic materials are similar
to those of models made of elastic elements and viscous 𝜂2 𝜔2𝛼 𝐸0 + 𝜂𝜔𝛼 𝐸02 cos (𝛼𝜋/2)
𝑌1 (𝜔) = 𝐸𝑚 + . (11)
elements according to certain rules, and the new viscoelastic 𝐸02 + 𝜂2 𝜔2𝛼 + 2𝜂𝜔𝛼 𝐸0 cos (𝛼𝜋/2)
material of MREs can be described by the model combining
several mechanical elements. Virtually, the parametric model The loss modulus of MREs is
in Figure 1 connects Hooke spring and Abel dashpot in
series to establish a Maxwell model based on fractional
operator to describe matrix characteristics of MREs and then 𝜂𝜔𝛼 𝐸02 sin (𝛼𝜋/2)
𝑌2 (𝜔) = . (12)
connects the model with the nonlinear spring element in 𝐸02 + 𝜂2 𝜔2𝛼 + 2𝜂𝜔𝛼 𝐸0 cos (𝛼𝜋/2)
parallel. Because the magneto-induced modulus is mainly
influenced by external magnetic field and strain and little by In addition, according to the definition of complex
frequency, the magneto-induced modulus can be regarded compliance, the complex compliance of MREs parametric
as the linear superposition in fractional operator Maxwell constitutive model is
model. Since each element is able to describe the ability
of different mechanical properties of MREs, the combined
1
model can describe macroscopic mechanical behavior of 𝐽∗ (𝜔) = = 𝐽1 (𝜔) − 𝑖𝐽2 (𝜔) . (13)
MREs. In this paper, the model is mainly used to study the 𝑌∗ (𝜔)
dynamic mechanical characteristics of MREs in magnetic
field. Thus, the storage compliance of MREs is
The parametric model satisfies the following equation:

𝜎 = 𝜎1 = 𝜎2 , 𝐽1 (𝜔) = (𝐸02 𝐸𝑚 + 𝜂2 𝜔2𝛼 (𝐸0 + 𝐸𝑚 )

𝜎1 = 𝐸0 𝜀1 (𝑡) , 𝛼𝜋
+ 𝜂𝜔𝛼 𝐸0 (𝐸0 + 2𝐸𝑚 ) cos ( ))
𝛼
𝜎1 = 𝜂𝐷 [𝜀2 (𝑡)] , 2
(14)
2
𝜀 (𝑡) = 𝜀1 (𝑡) + 𝜀2 (𝑡) , × (𝐸02 𝐸𝑚
2
+ 𝜂2 𝜔2𝛼 (𝐸0 + 𝐸𝑚 )

𝜎2 = 𝐸𝑚 𝜀 (𝑡) . 𝛼𝜋 −1
+ 2𝜂𝜔𝛼 𝐸0 𝐸𝑚 (𝐸0 + 𝐸𝑚 ) cos ( )) .
(7) 2

According to (7), the constitutive relation of MREs The loss compliance of MREs is
parametric model is

𝐸𝑚 𝐸0 + (𝐸𝑚 + 𝐸0 ) 𝜂𝐷𝛼 𝛼𝜋
𝐽2 (𝜔) = 𝜂𝜔𝛼 𝐸02 sin ( )
𝜎= 𝜀 (𝑡) . (8) 2
𝐸0 + 𝜂𝐷𝛼
2
× (𝐸02 𝐸𝑚
2
+ 𝜂2 𝜔2𝛼 (𝐸0 + 𝐸𝑚 ) (15)
2.3. Complex Modulus and Complex Compliance in Dynamic
Mechanics. After fractional Fourier transform, (8) is trans- 𝛼𝜋 −1
formed into + 2𝜂𝜔𝛼 𝐸0 𝐸𝑚 (𝐸0 + 𝐸𝑚 ) cos ( )) .
2
𝐸𝑚 𝐸0 + (𝐸𝑚 + 𝐸0 ) 𝜂(𝑖𝜔)𝛼
𝜎 (𝜔) = 𝜀 (𝜔) . (9) The energy dissipating rate [21] of MREs unit volume is
𝐸0 + 𝜂(𝑖𝜔)𝛼

According to the definition of complex modulus, the 1

𝐷 = 𝜎02 𝜔𝐽2 (𝜔)
complex modulus of MREs parametric constitutive model is 2
𝛼𝜋
𝑌∗ (𝜔) =
𝜎 (𝜔) = 𝜎02 𝜂𝜔𝛼+1 𝐸02 sin ( )
𝜀 (𝜔) 2
(16)
2
𝐸 𝐸 + (𝐸𝑚 + 𝐸0 ) 𝜂(𝑖𝜔)𝛼 × (2𝐸02 𝐸𝑚
2
+ 2𝜂2 𝜔2𝛼 (𝐸0 + 𝐸𝑚 )
= 𝑚 0 = 𝑌1 (𝜔) + 𝑖𝑌2 (𝜔) .
𝐸0 + 𝜂(𝑖𝜔)𝛼
𝛼𝜋 −1
(10) + 4𝜂𝜔𝛼 𝐸0 𝐸𝑚 (𝐸0 + 𝐸𝑚 ) cos ( )) .
2
Because 𝑖𝛼 = cos (𝛼𝜋/2) + 𝑖 sin (𝛼𝜋/2) [20], the storage mod-
ulus and loss modulus of MREs are as follows, respectively. Therein, 𝜎0 denotes the alternating stress amplitude.
4 Advances in Mechanical Engineering

The loss factor [22] is defined as the tangent of strain and 𝜎

stress cycle phase angle difference when viscoelastic materials
are in alternating stress field, and its size is expressed as Fs
X

𝑌2 (𝜔) 𝐽2 (𝜔)
tan 𝛿 = =
𝑌1 (𝜔) 𝐽1 (𝜔) j
𝛼𝜋 nd
= 𝜂𝜔𝛼 𝐸02 sin ( ) B
2
(17)
× (𝐸02 𝐸𝑚 2 2𝛼
+ 𝜂 𝜔 (𝐸0 + 𝐸𝑚 ) i

𝛼𝜋 −1
+ 𝜂𝜔𝛼 𝐸0 (𝐸0 + 2𝐸𝑚 ) cos ( )) .
2 𝛽
nd
It represents the ratio of the energy dissipated in each periodic
vibration to the maximum strain energy. d
The dynamic viscosity represents the internal friction of r
MREs in damping vibration [21], and it is expressed as Fs

𝑌2 (𝜔) Figure 2: Particle chain shear model of MREs under pressure stress.
𝜂∗ =
𝜔
(18)
𝜂𝜔𝛼−1 𝐸02 sin (𝛼𝜋/2) The magnetic-field intensity in the locality of particle 𝑖 is
= 2
.
𝐸0 + 𝜂 𝜔2𝛼 + 2𝜂𝜔𝛼 𝐸0 cos (𝛼𝜋/2)
2 expressed as

According to (9)–(16), the complex modulus and complex 𝑛 3𝑑̂𝑗 (𝑑̂𝑗 ⋅ 𝑚⃗ 𝑗 ) − 𝑚⃗ 𝑗

compliance of MREs parametric model are composed of the 𝐻𝑖 = 𝐻⃗ 0 + ∑ 𝐻𝑗 = 𝐻⃗ 0 + 2 ∑ 3
, (21)
𝑗 ≠ 𝑖 𝑗=1 4𝜋𝜇0 𝜇1 (𝑑𝑗 )
intrinsic modulus and magneto-induced modulus of matrix
materials, so this model can describe the dynamic mechanical
characteristics of MREs. where 𝐻⃗ 0 is the intensity of external magnetic field, 𝑑̂𝑗 is the
unit vector of 𝑑𝑗⃗ , and 𝑑𝑗 = 𝑗𝑑. Substitute (21) into (20), and
2.4. Magneto-Induced Shear Modulus 𝐸𝑚 of MREs. Before we obtain
the application of magnetic field and preparation of MREs, 𝑛 3𝑑̂ (𝑑̂ ⋅ 𝑚⃗ ) − 𝑚⃗
4 𝑗 𝑗
soft magnetic particles are evenly dispersed in matrix, and, 𝑚⃗ 𝑖 = 𝜋𝑟3 𝜇0 𝜇1 𝜒 [𝐻0 + 2 ∑ 3
]. (22)
after being cured in the magnetic field, those particles take 3 𝑗=1 4𝜋𝜇0 𝜇1 (𝑗𝑑)
[ ]
on ordered structures in chain or column. Under certain
pressure, the shear model of chain particles of MREs is shown If 𝐴 = ∑𝑛𝑗=1 (1/𝑗3 ), when n is large enough, 𝐴 ≈ 1.202.
in Figure 2. Therein, 𝑑 is the distance between centers of two If the influence of vertical pressure stress is taken into
nearby magnetic particles; assuming that all soft magnetic account, in addition, the dynamic poisson ratio and the
particles are equally large, the radius is 𝑟; 𝜎 is the vertical particle chain bending are not considered; the research will
pressure stress. Considering no matter in material property be simplified into one-dimensional shear problem. Then
test or in the application to vibration damper, certain pressure
stress will be applied to MREs and have a strong effect on 𝑑 = 𝑑0 (1 − 𝜀matrix ) , (23)
mechanical properties of MREs [23]; it cannot be ignored.
where 𝑑0 is the distance between two nearby particles
According to magnetic dipole theories, the interaction
without vertical pressure stress and 𝜀matrix = 𝜎/𝐸matrix is
energy between two dipoles in the magnetic dipole moment
the compressive strain of matrix. Because the rigidity of soft
of 𝑚1 and 𝑚2 is as follows, respectively,
magnetic particles is far larger than the matrix rigidity, so the
1 𝑚⃗ ⋅ 𝑚⃗ 3 particle deformation can be ignored. And if
𝐸12 = [ 1 3 2 − 5 (𝑚⃗ 1 ⋅ 𝑑)⃗ (𝑚⃗ 2 ⋅ 𝑑)]
⃗ . (19)
4𝜋𝜇0 𝜇1 𝑑 𝑑 𝑑
𝑘=
𝑟 (24)
As for any dipole 𝑖, its dipole moment is expressed as follows:
𝑘 = 𝑘0 (1 − 𝜀matrix ) ,
4
𝑚⃗ 𝑖 = 𝜋𝑟3 𝜇0 𝜇1 𝜒𝐻𝑖 , (20) 𝑘0 = 𝑑0 /𝑟; assuming 𝑚𝑖 = 𝑚𝑗 = 𝑚, from (22)–(24), we can
3
obtain
where 𝜇0 = 4𝜋 × 10−7 H/m is the vacuum permeability, 𝜇1 3
is the relative permeability of MREs matrix, and 𝜒 is particle 4 3𝑘3 (1 − 𝜀matrix )
𝑚 = 𝜋𝑟3 𝜇0 𝜇1 𝜒𝐻0 [ 3 0 ]. (25)
magnetic susceptibility. 3 3𝑘0 (1 − 𝜀matrix )3 − 4𝜒𝐴
Advances in Mechanical Engineering
Figure 3: MCR51 rheometer.
According to the literature [24], the magneto-induced shear
modulus of MREs is
𝐸𝑚 = Δ𝐺
9 Φ𝐴 (4 − 𝛾2 ) 𝑚2
= of 500 mT; and volume fractions of ferromagnetic particles
8 𝑑3 𝜋2 𝑟3 𝜇 𝜇 (1 + 𝛾2 )7/2
0 1
3 The diameter of MREs samples is 20 mm, and the thick-
18𝜇0 𝜇1 𝜒2 𝐻02 Φ𝐴𝑘03 (1 − 𝜀matrix ) (4 − 𝛾2 )
= ,
7/2 3 2
(1 + 𝛾2 ) [3𝑘03 (1 − 𝜀matrix ) − 4𝜒𝐴]
where 𝛾 denotes the shear strain and Φ denotes the volume
fraction of particles.
Substitute (26) into (11), and we can obtain the expression
of shear storage modulus of MREs under dynamic alternating
load; namely,
3
{ 18𝜇0 𝜇1 𝜒2 𝐻02 Φ𝐴𝑘03 (1 − 𝜀matrix ) (4 − 𝛾2 ) }
𝑌1 (𝜔) = { 2 }
2 7/2 3 3
{ (1 + 𝛾 ) [3𝑘0 (1 − 𝜀matrix ) − 4𝜒𝐴] } (27)
𝜂2 𝜔2𝛼 𝐸0 + 𝜂𝜔𝛼 𝐸02 cos (𝛼𝜋/2)
+ .
𝐸02 + 𝜂2 𝜔2𝛼 + 2𝜂𝜔𝛼 𝐸0 cos (𝛼𝜋/2)
3. Experiment on Dynamic Mechanical
Property of MREs
In this paper, the MCR51 rotational rheometer produced by
Austrian Anton Paar is adopted to test dynamic mechanical
properties of MREs, and magnetorheological test modules are
provided to help realize the dynamic mechanical property
test of samples when a magnetic field is applied, as shown in
Figure 3.
The experiment on dynamic mechanical property of
MREs is carried out under oscillatory mode and the rheome-
ter uses the sinusoidal driving force 𝜎 = 𝜎0 sin 𝜔𝑡 to drive
the parallel-plate rotor (PP20 measuring head) to experiment
samples. Controllable parameters under such mode are strain
amplitude, angle frequency, magnetic field, and so forth, and
the experiment principle is shown in Figure 4. If the torque
working on parallel plate is 𝑀, the radius of parallel plate is
5
Table 1: Volume fractions of MREs ferromagnetic particles Φ%.
Name MRE-1 MRE-2 MRE-3 MRE-4 MRE-5
CIP 13 18 25 34 46
𝑅, the interval is ℎ, the torque value is Ω (unit radian), and
𝛾max is strain amplitude, then
𝑅Ω
𝛾max = ,
ℎ
(28)
2𝑀ℎ
𝐺= .
𝜋𝑅4 Ω
Hence, under oscillatory mode, the value of rheometer in
each measure point corresponds to its strain amplitude.
Raw materials such as carbonyl iron powder (CIP) (the
average particle size is 3.5 𝜇m), methyl silicone oil, and one-
component RTV silicon rubber are adopted; five groups
of MREs samples with different contents of ferromagnetic
particles are prepared under the curing magnetic flux density
(26)
are shown in Table 1.
ness is 2 mm. The working gap of parallel-plate rotor in
rheometer is 1 mm. Hence, taking the compressive deforma-
tion of MREs matrix into account, we obtain 𝜀matrix = 0.5. The
fixed oscillatory strain amplitude is 𝛾 = 0.1%. Meanwhile,
MREs samples are scanned under different frequencies and
magnetic fields.
4. Experimental Results and Analysis
4.1. Strain Amplitude Scanning. To obtain the relationship
between the loss modulus and strain, MRE-4 samples are
separately scanned under 1 Hz, 10 Hz, and 100 Hz, and the
relationship curve between loss modulus and shear strain is
displayed in Figure 5.
In Figure 5, loss modulus of MREs is nearly invariable
with the increasing strain amplitude and, when higher fre-
quency is applied, the value of loss modulus will increase.
Furthermore, this experiment verifies (12) that MREs strain
has no effect on the loss modulus.
4.2. Frequency Scanning. When no magnetic field is applied,
MREs samples are scanned under different frequencies, and
the relationship curve between loss modulus and frequency
and that between shear storage modulus and frequency are
shown in Figures 6 and 7, respectively.
As shown in Figures 6 and 7, the loss modulus and shear
storage modulus of MREs increase as the frequency increases,
and the loss modulus and storage modulus increase as the CIP
volume fraction increases.
Apply the nonlinear least squares fitting to (11) or (12),
where 𝜂 and 𝛼 are parameters and 𝐸𝑚 = 0. Considering that
704 one-component RTV silicon rubber is used as matrix
material, and, combining property parameters of materials,
the shear modulus after curing is about 800 kPa; thus we can
6 Advances in Mechanical Engineering

M 90

80

70

Loss modulus G󳰀󳰀 (kPa)

60

50

40

30
R 20

MREs 10

h 0
0 5 10 15 20 25 30 35 40
Oscillatory frequency (𝜔/Hz)
Ω
MRE-1 MRE-4
MRE-2 MRE-5
MRE-3
Figure 4: Schematic diagram of oscillatory shear experiment of
parallel-plate rotor. Figure 6: The relationship between loss modulus and frequency
(𝐻 = 0).
100
320
300
280
Loss modulus G󳰀󳰀 (MPa)

260
Storage modulus G󳰀 (kPa)

240
220
200
10−1 180
160
140
120
100
80
60
40
10−2 20
10−2 10−1 100 101 0
Strain (%) 0 5 10 15 20 25 30 35 40
Oscillatory frequency (𝜔/Hz)
f = 1 Hz
f = 10 Hz MRE-1 MRE-4
f = 100 Hz MRE-2 MRE-5
MRE-3
Figure 5: The relationship between loss modulus and strain (𝐻 =
156 kA/m). Figure 7: The relationship between shear storage modulus and
frequency (𝐻 = 0).

obtain E0 = 800 kPa. After fitting, the following parameter

results are obtained: As shown in Figures 8 and 9, after the calculation
according to parametric constitutive model, the relationship
𝜂1 = 12.46231, 𝛼1 = 0.27820 Φ = 13%,
curve that loss modulus and storage modulus of MREs vary
𝜂2 = 20.46492, 𝛼2 = 0.23408 Φ = 18%, with frequency fits well with laboratory data as a whole. In
addition, it can be found that, when the particle volume
𝜂3 = 25.37510, 𝛼3 = 0.24095 Φ = 25%, (29) fraction is larger, the curve similarity decreases and the error
becomes larger, because, with more particles, the formed
𝜂4 = 68.32434, 𝛼4 = 0.22693 Φ = 34%, ordered structure will be more complicated. In spite of no
𝜂5 = 165.81227, 𝛼5 = 0.26046 Φ = 46%. external magnetic field, no magnetized particles, namely,
no magneto-induced modulus change, the sophisticated and
Substitute all parameter values into (11) and (12), and draw the closed ordered structure formed by particles in matrix still
relationship curve that loss modulus and storage modulus of has a large impact on MREs. However, when no external mag-
MREs vary with frequency. netic field is applied, this model only regards soft magnetic
Advances in Mechanical Engineering 7

90 1800
85 1700
80 1600
Φ = 46%
75 1500
70 1400

Storage modulus G󳰀 (kPa)

Loss modulus G󳰀󳰀 (kPa)

65 1300
60 1200
55 1100
50 1000
45 900
40 Φ = 34% 800
35 700
30 600
25 500
20 Φ = 25% 400
15 Φ = 18%
Φ = 13% 300
10 200
5 100
0 0
0 5 10 15 20 25 30 35 40 45 0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85
Oscillatory frequency (𝜔/Hz) Magnetic-field intensity H (kA/m)

Experimental data MRE-1 MRE-4

Fitting curve MRE-2 MRE-5
MRE-3
Figure 8: Fitting curve of loss modulus (𝐻 = 0).
Figure 10: The relationship between shear storage modulus and
magnetic field (𝜔 = 10 Hz).
320
300
280 Φ = 46%

260 200
Storage modulus G󳰀 (kPa)

240
220 180
200
180 160
Loss modulus G󳰀󳰀 (kPa)

160 140
140 Φ = 34%
120 120
100 100
80
60 Φ = 25% 80
40 Φ = 18%
Φ = 13% 60
20
0 40
0 5 10 15 20 25 30 35 40 45
Oscillatory frequency (𝜔/Hz) 20
0
Experimental data 0 10 20 30 40 50 60 70 80
Fitting curve Magnetic-field intensity H (kA/m)

Figure 9: Fitting curve of shear storage modulus (𝐻 = 0). MRE-1 MRE-4

MRE-2 MRE-5
MRE-3
particles as ordinary homogeneous fillers, and promoting and Figure 11: The relationship between loss modulus and magnetic field
reinforcing effects of chain structures formed by particles on (𝜔 = 10 Hz).
matrix would not be considered.

4.3. Magnetic Field Scanning. In magnetic field scanning, the

relationship curve that storage modulus and loss modulus
vary with magnetic-field intensity is shown in Figures 10
and 11.
As shown in Figures 10 and 11, as the magnetic-field
intensity increases, the magnetic force between particles in
MREs improves; what is more, the shear storage modulus
increases as the magnetic-field intensity is reinforced; mean-
while, as the CIP volume fraction increases, the shear storage
modulus of MREs becomes larger and the modulus change is
more obvious. Particularly, when the particle volume fraction
reaches 34% and 46%, the relative modulus change of MREs
(magnetorheological effect) is 5–10 times as large as that of
first three groups of samples (with smaller particle volume
fraction). However, the change of loss modulus with the
increasing magnetic-field intensity is not apparent and can be
neglected. So, from Figure 11, the external magnetic field may
have little effect on loss modulus of MREs, which satisfies the
description of (12).
The shear storage modulus of MREs in magnetic field is
mainly composed of the matrix shear modulus and magneto-
induced modulus. Apply the nonlinear least squares fitting to
(27) and (29), where 𝜇1 = 1, 𝜒 = 0.65 [20], 𝐴 = 1.202, and 𝑘0
8 Advances in Mechanical Engineering

1800 0.55
1700
Φ = 46%
1600
1500 0.50
1400
Storage modulus G󳰀 (kPa)

1300 Φ = 34% 0.45

1200
1100

Loss factor tan𝛿

1000 0.40
900
800 0.35
700
600 0.30
500
400
Φ = 25% 0.25
300
200 Φ = 18%
100 Φ = 13%
0.20
0
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85
Magnetic-field intensity H (kA/m) 0.15
0 100 200 300 400 500 600 700 800 900 1000
Experimental data Oscillatory frequency (𝜔/Hz)
Fitting curve
MRE-1 MRE-4
Figure 12: The model curve in which the shear storage modulus MRE-2 MRE-5
varies with the magnetic field. MRE-3

Figure 14: The relationship between loss factor of MREs and

frequency when there is no external magnetic field.
2.033

2.032
0.50
2.031
0.45
2.030
0.40
k0 2.029
Loss factor tan𝛿

2.028 0.35

2.027 0.30
2.026
0.25
2.025
0.20
0.10 0.15 0.20 0.25 0.30 0.35 0.40 0.45 0.50
Volume fraction Φ (%) 0.15
0 5 10 15 20 25 30 35 40
Figure 13: The relationship between parameter k0 and particle Oscillatory frequency (𝜔/Hz)
volume fraction.
Experimental data
Model result

is the fitting parameter, and obtain the fitting curve as shown
in Figure 10.
In Figure 12, the fitting curve basically fits with laboratory
data. The parameter 𝑘0 denotes the ratio of the distance
between centers of two nearby particles to particle radius,
and the relationship between its fitted value and particle
volume fraction is shown in Figure 13. The parameter 𝑘0 value
decreases as the particle volume increases, indicating that the
magnetic force is stronger when the chain structure formed
by particles is closer, as shown in (19). Hence, it also explains
why the shear storage modulus of MREs becomes larger as
the particle volume fraction increases.
4.4. Relevant Curves by Numerical Simulations. Relevant
parameters fitted in (11) and (12), when there is magnetic field
or no magnetic field, as detailed in Table 2, are substituted
Figure 15: The model curve in which the loss factor varies with
oscillatory frequency (MRE-4).
into (16)–(18), and relationship curves that MREs loss factor,
energy dissipating rate, and dynamic viscosity vary with
frequency and magnetic field are drawn.
Figure 14 shows that, when the external magnetic field is
zero, the loss factors decrease as the frequency increases, and,
as particle volume fraction increases, the MREs loss factor
decreases. When the frequency increases gradually, the loss
factor of MREs tends to remain constant and is not affected
by frequency. In Figure 15, MRE-4 is taken as the example
to compare the experimental data with model result of loss
factor varying with oscillatory frequency. The variation trend
of the model basically fits with the experimental result, but
Advances in Mechanical Engineering 9

Φ = 13% Φ = 18%

0.50 0.40
0.45 0.35
0.40
0.30
Loss factor tan𝛿

0.35

Loss factor tan𝛿

0.30 0.25
0.25 0.20
0.20 0.15
0.15
0.10
0.10
0.05 0.05
y 120 y
120
sit 0.00 sit
0.00
100 80 ten 100 80 nten
in i
Osci 300 500 40 field /m) Osci 300 500 40 field /m)
llato llato -
r y fr 700 c- A r y fr 700 A
eque eti (k
eque tic (k
ncy ( 900 0 n ncy ( 900 0 ne
𝜔/H
z) ag H 𝜔/H
z) ag H
M M

0.40 0.35
0.35 0.30
0.30
Loss factor tan𝛿
0.25
Loss factor tan𝛿

0.25
0.20
0.20
0.15
0.15
0.10 0.10
0.05 0.05
120 y
sit 120 sit
y
0.00
100 80 nten 0.00
80 ten
i 100 in
Osci 300 500 40 field /m) Osci 300 500
llato - llato 40 field /m)
r y fr 700 c A r y fr 700 -
eque
ncy ( 900 0 ne
ti (k eque
ncy ( 900 tic (kA
ag H
0 ne
𝜔/H
z) M
𝜔/H
z) ag H
M
Φ = 25% Φ = 34%

0.40
0.35
0.30
Loss factor tan𝛿

0.25
0.20
0.15
0.10
0.05
120 y
0.00 sit
80 ten
100 in
Osci 300 500 40 field /m)
llato -
r y fr 700
eque tic (kA
ncy ( 900 0 ne
𝜔/H
z) ag H
M

Φ = 46%

Figure 16: Loss factor of MREs under different driving frequencies and different magnetic fields.

the numerical simulation result is slightly larger than the field and frequency increase, the loss factor decreases con-
experimental data. However, the model curve and experi- tinuously. Particularly, when the volume fraction of particles
mental data tend to overlap with the increasing oscillatory reaches 46%, the curve approximates a plane, indicating that
frequency. MREs with too high particle volume fraction are not suitable
Figure 16 shows the changes of MREs loss factor from for damping materials, because too much ferrous powder
low frequency to high frequency and from low magnetic field make MREs not “soft” enough and the overall average rigidity
to high magnetic field and indicates that, as the magnetic is “pulled too high” by too much ferrous powder.
10 Advances in Mechanical Engineering

Table 2: Fitting parameters of MREs with different particle volume 240

fractions. 220
Samples 𝜂 𝛼 𝑘0 200

Dissipation ratio D (kPa/s)

MRE-1 12.46231 0.27820 2.03157 180
MRE-2 20.46492 0.23408 2.03140 160
MRE-3 25.3751 0.24095 2.03120 140
MRE-4 68.32434 0.22693 2.02544 120
MRE-5 165.81227 0.26046 2.02521 100
80
60
1400
40
1200 20
Dissipation ratio D (kPa/s)

0
1000 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140
Magnetic-field intensity H (kA/m)
800
𝜎0 = 10 kPa 𝜎0 = 40 kPa
𝜎0 = 20 kPa 𝜎0 = 50 kPa
600 𝜎0 = 30 kPa

400 Figure 18: The relationship between dissipating rate and magnetic-
field intensity (MRE-4).
200

0 10
0 100 200 300 400 500 600 700 800 900 1000
Oscillatory frequency (𝜔/Hz)

𝜎0 = 10 kPa 𝜎0 = 40 kPa 8
Dynamic viscosity 𝜂∗ (kPa·s)

𝜎0 = 20 kPa 𝜎0 = 50 kPa
𝜎0 = 30 kPa
6
Figure 17: The relationship between dissipating rate and frequency
(MRE-4).
4

Figures 17 and 18 indicate the relationship curves of MREs 2

energy dissipating rate in unit volume and frequency and
magnetic field under different alternating stress amplitudes.
Taking the fourth group of samples, for example, as the 0
frequency is larger, the MREs energy dissipating rate in unit 0 100 200 300 400 500 600 700 800 900 1000
volume is larger, but, as the magnetic-field intensity continues Oscillatory frequency (𝜔/Hz)
increasing, the dissipating rate tends to decrease and finally
MRE-1 MRE-4
tends to zero. MRE-2 MRE-5
The dynamic viscosity represents the internal friction of MRE-3
matrix materials when damping vibration happens to MREs.
At the moment, CIP particles are only equivalent to a kind Figure 19: The relationship between dynamic viscosity and fre-
of powder fillers. The curve in Figure 19 indicates that, as quency.
the particle volume fraction increases, the MREs dynamic
viscosity increases; and, within the frequency range from
0 to 200 Hz, MREs dynamic viscosity tends to decrease as connects with linear spring in series to establish the Maxwell
the frequency increases, and beyond that range the dynamic model capable of describing MREs basic characteristics.
viscosity remains basically constant and approximates to 0. Meanwhile, in combination with magneto-induced charac-
teristics of MREs, the nonlinear spring element is introduced
5. Conclusions to connect with matrix model in parallel with compos-
ing the parametric constitutive model of MREs. Dynamic
In this paper, a parametric constitutive model of MREs in mechanical characteristics of MREs are studied by this model
a simple form and with clear physical meaning is proposed, and relevant expressions of dynamic mechanical modulus
which uses the Abel dashpot element with fractional operator are derived. In addition, on the basis of coupled field, a
to replace the traditional Newton dashpot element and then shear model of particle chain based on pressure stress is
Advances in Mechanical Engineering
proposed and used to study the magnetorheological effect of
MREs. In order to verify the accuracy of the entire model,
five groups of MREs samples based on silicone rubber with
different volume fractions are prepared, and the MCR51
rheometer is used to conduct the experiment of dynamic
mechanical properties based on frequency and magnetic field
scanning. Experimental results reveal that the established
model fits well with laboratory data; namely, the model
can better describe the relationship between the dynamic
modulus of MREs and changes in frequency and magnetic
field. Finally, fitting parameters are substituted into relevant
expressions, and curves that loss factor, dissipation rate, and
dynamic viscosity change with frequency and magnetic field
are drawn. According to the results, the loss factor decreases
as frequency and magnetic field increase, and, as the volume
fraction of soft magnetic particles increases, the loss factor
decreases; however, MREs energy dissipating rate in unit
volume increases as the frequency increases and decreases
as the magnetic field intensity increases; when the magnetic-
field intensity reaches 80 kA/m, the dissipating rate tends to
0; the dynamic viscosity of MREs is only related to frequency,
which decreases as the frequency increases and finally tends
to 0.
Conflict of Interests
The authors declare that there is no conflict of interests
regarding the publication of this paper.
Acknowledgment
The authors would like to thank the Department of Science
and Technology of Jiangsu Province of China for financial
support under Project BE2012180.
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