Multi-mode magneto-rheological actuator

Abstract

The application discloses a multi-mode magneto-rheological actuator, which comprises a magneto-rheological damper, a working cylinder and a control cylinder which are connected in parallel, a piston is arranged in the working cylinder, so that the working cylinder is divided into a first working cavity and a second working cavity by the piston; an adjusting valve core is arranged in the control cylinder, so that the control cylinder is divided into a first control cavity and a second control cavity by the adjusting valve core; the first working cavity, the second working cavity, the first control cavity and the second control cavity are filled with magneto-rheological fluid; the first working cavity is communicated with the first control cavity, and the communication flow in the two cavities is controllable; the second working cavity is communicated with the second control cavity, and the communication flow in the two cavities is controllable; the two cavities are filled with magneto-rheological fluid; the magneto-rheological actuator has two working modes, a mode switching switch of active damping and magneto-rheological semi-active damping is formed by a motor and the adjusting valve core, and model selection is actively carried out for different scenes, so that the damping requirements of different application scenes can be met.

Description

Technical Field

[0001] This invention relates to the field of vibration suppression technology, and in particular to a multi-mode magnetorheological actuator. Background Technology

[0002] Passive suspension systems have significant limitations when faced with complex excitations, making it difficult to effectively absorb complex and varied excitations. This results in significant platform swaying, reducing ride comfort and stability, and easily causing health problems for passengers and increasing the risk of platform imbalance and loss of control. Existing technologies employ two magnetorheological damping control methods: one is a semi-active control system that can electronically adjust the damping output of the shock absorber in real time, adaptively matching different excitation conditions to achieve suspension stiffness adjustment with extremely low energy consumption, balancing ride comfort and stability. However, its damping adjustment range is limited, making it difficult to increase the upper limit of damping output while maintaining or lowering its lower limit; the other is an active control system that can continuously output active control force to counteract different types of excitations. However, it has high energy consumption and cost, significantly impacting the range and application cost of new energy vehicles. Furthermore, power outages may cause a sharp decline in its support, leading to system failure.

[0003] Therefore, there is an urgent need to develop a new device or working mode to solve the problems of high energy consumption and high cost of active control systems and the limited damping adjustment range of semi-active control systems, which make it difficult to increase the upper limit of damping output while maintaining or reducing the lower limit of damping output, thereby reducing application costs and improving overall driving and riding comfort. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a multi-mode magnetorheological actuator to solve the problem that energy consumption and shock absorption effect cannot be achieved simultaneously in the existing balance suspension system, thereby reducing application costs and improving overall driving and riding comfort.

[0005] A multi-mode magnetorheological actuator of the present invention includes:

[0006] A magnetorheological damper includes a working cylinder and a control cylinder connected in parallel. The working cylinder is equipped with a piston, which divides the working cylinder into a first working chamber and a second working chamber. The control cylinder is equipped with an adjusting valve core, which divides the control cylinder into a first control chamber and a second control chamber. The first working chamber, the second working chamber, the first control chamber, and the second control chamber are filled with magnetorheological fluid.

[0007] The first working chamber is connected to the first control chamber, and the flow rate within the two chambers is controllable;

[0008] The second working chamber is connected to the second control chamber, and the flow rate within the two chambers is controllable.

[0009] Furthermore, it also includes a mode switching mechanism, which includes a magnetic field generator and a drive source. The magnetic field generator is placed in the control cylinder to change the magnetic field so that the damping of the magnetorheological fluid changes. The regulating valve core can be driven by the drive source to adjust the flow rate between the first working chamber and the first control chamber and the flow rate between the second working chamber and the second control chamber, thus forming different working modes.

[0010] Furthermore, the working cylinder includes an outer cylinder and a piston cylinder nested inside the outer cylinder. A floating piston is provided at the end of the piston cylinder. There is a cavity between the floating piston and the bottom of the outer cylinder, and a sealing ring and a guide band are provided on the side. The cavity is filled with high-pressure gas.

[0011] Furthermore, the control cylinder also includes a side cylinder, the magnetic field generator is disposed inside the side cylinder, and there is an annular flow channel formed by the gap between the magnetic field generator and the inner wall of the side cylinder. The outer cylinder and the side cylinder are provided with a connecting flow channel hole I and a connecting flow channel hole II, and the magnetorheological fluid can flow between the side cylinder and the outer cylinder through the connecting flow channel hole I and the connecting flow channel hole II.

[0012] Furthermore, the magnetic field generator is provided with a limiting cover at one end, the side cylinder is provided with a side end cover at one end, and a lower stop cover is provided at the other end; a cavity is formed between the limiting cover and the side end cover; an adjusting valve core is provided in the cavity, and the adjusting valve core can be driven by a driving source to slide in the adjusting cavity.

[0013] Furthermore, the limiting cover has a "mountain" shaped cross-section, and the side wall of the limiting cylinder cover is provided with control flow channel hole I and control flow channel hole II. The regulating valve core has valve core flow channels on both sides, a limiting groove at one end, and a threaded sleeve at the other end. The threaded sleeve is connected to a lead screw. The limiting groove cooperates with the protrusion in the middle of the limiting cover to constrain the regulating valve core. The regulating valve core can be driven by a drive source to slide in the regulating cavity, so that the valve core flow channel is connected and disconnected from control flow channel hole I and control flow channel hole II respectively.

[0014] Furthermore, the drive source includes a motor and a lead screw. The lead screw is engaged with the threaded sleeve of the regulating valve core. The motor is placed outside the magnetorheological damper and can drive the lead screw to rotate, so that the regulating valve core can be adjusted to a position within the regulating cavity by the lead screw.

[0015] Furthermore, the electromagnetic generator includes an iron core and an excitation coil wound around the outside of the iron core. The bottom of the side cylinder is provided with a cable port, and the control line of the excitation coil passes through the cable port to connect to an external power source.

[0016] Furthermore, the piston cylinder has a rib on its outer side, and there is a gap between the piston cylinder and the outer cylinder. The gap is divided by the rib to form two annular working channels I and annular working channels II. The piston cylinder also has a working channel hole I and a working channel hole II on its cylinder wall. The working channel hole I is connected to the annular working channel I, and the working channel hole II is connected to the annular working channel II.

[0017] Furthermore, the outer cylinder is provided with a sealing component, and sealing rings are provided on both sides of the sealing component to completely seal the working cylinder. An opening is provided in the middle, through which the piston rod of the piston can pass to connect with an external mechanism. A flange seat and a bushing are provided between the piston rod and the sealing component, so that the piston rod can operate stably and smoothly under the condition that the working cylinder is sealed.

[0018] The beneficial effects of this invention are as follows: This invention provides a multi-mode magnetorheological actuator with two operating modes. A high-speed motor and a regulating valve core form a mode switching switch for active vibration damping and semi-active magnetorheological vibration damping. This allows for active model selection for different scenarios to adapt to the vibration damping requirements of various applications. It also broadens the upper and lower limits of the adjustable damping force in the semi-active damping mode, improving the current situation where the limited adjustable damping range of magnetorheological dampers makes it difficult to balance comfort and operational stability. Combined with the feature of the active valve system regulating the operating state of the semi-active damper, it can effectively address the influence of factors such as temperature rise on the output damping characteristics of the magnetorheological fluid. The output damping force is compensated through active valve system adjustment, reducing the temperature sensitivity of the active magnetorheological damper.

[0019] In semi-active damping mode, it can achieve true bidirectional independent control of compression and recovery force values, and can adjust the ratio of compression and recovery stroke output force values ​​according to different scenario / operating conditions, greatly improving ride comfort and vibration absorption effect.

[0020] Active vibration damping can generate a counterforce in real time, stabilize the vibration posture of the platform, and effectively suppress low-frequency vibration. Semi-active vibration damping can reduce the energy consumption of the vibration damping system, achieving simultaneous improvement in system energy consumption and vibration damping effect, and reducing market application costs. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0022] Figure 1 This is a schematic diagram of the structure of the present invention. Detailed Implementation

[0023] like Figure 1 As shown: A multi-mode magnetorheological actuator according to this embodiment includes:

[0024] A magnetorheological damper includes a working cylinder and a control cylinder connected in parallel. The working cylinder contains a piston that divides it into a first working chamber D and a second working chamber E for vibration damping control of the moving mechanism. The control cylinder contains an adjusting valve core 15 that divides it into a first control chamber F and a second control chamber H. The first working chamber D, second working chamber E, first control chamber F, and second control chamber H are filled with magnetorheological fluid to accommodate different operating modes of the magnetorheological damper. The working cylinder is connected to a working mechanism at both ends. The working mechanism can be a seat or a shock absorber or other structure requiring vibration damping during operation. The magnetorheological fluid flows in the connecting channel between the working cylinder and the control cylinder. The control cylinder controls the damping magnitude and flow path of the magnetorheological fluid flowing between the working cylinder and the control cylinder. The damping can be adapted to different conditions by changing the flow path. The damping can also be affected by changing the magnetic field strength of the magnetorheological fluid through the control cylinder. These two control methods work together to form the most suitable operating mode for different scenarios.

[0025] The first working chamber D is connected to the first control chamber F, and the flow rate within the two chambers is controllable. A connecting channel is provided between the first working chamber D and the first control chamber F, and the size of the connecting channel is adjustable, so that the magnetorheological fluid can flow within the two chambers while the flow rate is controllable.

[0026] The second working chamber E is connected to the second control chamber H, and the flow rate within the two chambers is controllable. A connecting channel is provided between the second working chamber and the second control chamber H, and the size of the connecting channel is adjustable, so that the magnetorheological fluid can flow within the two chambers while the flow rate is controllable.

[0027] In this embodiment, the mode switching mechanism includes a magnetic field generator and a drive source. The magnetic field generator is placed in the control cylinder to change the magnetic field, thereby changing the damping of the magnetorheological fluid. The regulating valve core 15 can be driven by the drive source to adjust the flow rate between the first working chamber D and the first control chamber F, and the flow rate between the second working chamber E and the second control chamber H, forming different working modes. The magnetic field generator is used to control the mode switching device to switch modes and control the current output, adjusting the damping magnitude of the magnetorheological fluid in the working cylinder. The working modes include active damping mode and semi-active damping mode. The active damping can generate a reverse force in real time, stabilizing the vibration posture of the platform and effectively suppressing low-frequency vibration. It can broaden the upper and lower limits of the adjustable range of damping force value in the semi-active damping mode, and realize the active redispersion of the magnetorheological fluid at startup. The semi-active damping can reduce the energy consumption of the damping system and achieve true bidirectional independent control of compression and recovery force values.

[0028] In this embodiment, the working cylinder includes an outer cylinder 2 and a piston cylinder 5 nested within the outer cylinder. A floating piston 4 is provided at the end of the piston cylinder 5. A cavity 22 is provided between the floating piston 4 and the bottom 2 of the outer cylinder. A sealing ring II 3 and a guide band 23 are provided on the side. The cavity 22 is filled with high-pressure gas to provide basic pressure. The piston cylinder 5 is divided by the piston 7 to form a first working chamber D and a second working chamber E. The outer cylinder 2 and the piston cylinder 5 are installed in a nested manner, rather than using the piston cylinder 5 directly as the working cylinder. The nested combination satisfies the requirements of the magnetorheological fluid for the working flow channel, leaving a design margin. At the same time, the nested design also improves space efficiency, enabling the magnetorheological damper to be used more widely in multiple fields. The first working chamber D serves as a compression chamber, and the second working chamber E serves as a recovery chamber. Both chambers are filled with magnetorheological fluid and can circulate in the connected flow channel, thereby controlling the damping change during the stroke of the piston 7. The cavity 22 at the bottom of the outer cylinder 2 stores a certain volume of high-pressure gas, which is sealed by the floating piston 4 and the sealing ring II 3 to prevent high-pressure gas from leaking into the magnetorheological fluid chamber and to provide a certain base pressure. The floating piston 4 can be constrained by the bottom end of the piston cylinder 5 along the length of the outer cylinder 2. The guide band 23 is the mechanical stabilizer of the magnetorheological damper. It does not generate damping force, but it ensures that the magnetic circuit gap that generates damping force is not damaged. In vibration control or semi-active suspension applications, its reliability directly determines the controllability and service life of the damper. The guide band 23 has radial support, centering, and dust removal functions.

[0029] In this embodiment, the control cylinder further includes a side cylinder 11. The magnetic field generator is disposed inside the side cylinder 11. An annular flow channel C is formed by a gap between the magnetic field generator and the inner wall of the side cylinder 11. The outer cylinder 2 and the side cylinder 11 are joined together and have a connecting flow channel hole Ic and a connecting flow channel hole IId. The magnetorheological fluid can flow between the side cylinder 11 and the outer cylinder 2 through the connecting flow channel hole Ic and the connecting flow channel hole IId. The magnetic field generator consists of an iron core 12 and an excitation coil 13. The iron core 12 is provided with several coil slots. The excitation coil 13 is disposed in the coil slots, and its surface is flush with or slightly lower than the outer surface of the iron core 12. On the surface, there is a gap between the outer surface of the iron core 12 and the inner wall of the side cylinder 11, which forms an annular flow channel C. The annular flow channel C can be filled with magnetorheological fluid. There are connecting flow channel holes Ic and IId between the outer cylinder 2 and the side cylinder 11. The connecting flow channel holes Ic and IId can be used as positioning holes for the outer cylinder 2 and the side cylinder 11 to position them when they are welded together. The magnetorheological fluid can flow between the first working chamber D and the first control chamber F through the connecting flow channel hole Ic. The magnetorheological fluid can also flow to the second working chamber E and the second control cylinder H through the connecting flow channel hole Ic.

[0030] In this embodiment, the magnetic field generator is provided with a limiting cover 14 at one end, the side cylinder 11 is provided with a side end cover 16 at one end, and a lower stop cover 10 at the other end; a cavity is formed between the limiting cover 14 and the side end cover 16; an adjusting valve core 15 is provided in the cavity, and the adjusting valve core 15 can slide in the adjusting cavity driven by the lead screw 17 and divide the cavity to form a first control cavity F and a second control cavity H; the side cylinder 11 and the outer cylinder are positioned and welded after being connected to the flow channel hole Ic and the flow channel hole IId; the iron winding excitation coil 13 is... The core 12 is limited in both directions by the lower cover 10 and the limiting cover 14. The lower cover 10 is threaded and connected to the side cylinder 11 by the thread. The limiting cover 14 is limited by the shoulder of the side cylinder 11. The three are fixed by a keyway connection and do not rotate or move. The lower cover 10 is also provided with a through hole. The control cable of the excitation coil 13 can be connected to an external controller and power supply through the through hole of the lower cover 10 to control the current on the excitation coil 13 and adjust the magnetic field.

[0031] In this embodiment, the limiting cover 14 has a mountain-shaped cross-section, and the side wall of the limiting cover 14 is provided with a control flow channel hole Ie and a control flow channel hole IIf. The regulating valve core 15 has valve core flow channels h on both sides, a limiting groove at one end, and a threaded sleeve at the other end. The threaded sleeve is connected to a lead screw 17. The limiting groove cooperates with the short shaft in the middle of the limiting cover 14 to constrain the regulating valve core 15. The regulating valve core 15 can be driven by the lead screw 17 to slide in the regulating cavity, so that the valve core flow channel h is connected and disconnected from the control flow channel hole Ie and the control flow channel hole IIf, respectively. The shoulder of the short shaft in the center of the limiting cover 14 cooperates with the limiting groove at the lower end of the regulating valve core 15 to guide the movement of the regulating valve core 15, so that the regulating valve core 15 only moves up and down along the inner wall of the limiting cover 14. One end of the lead screw 17 cooperates with the regulating valve core 15, and the other end is connected to the mode switching device to realize active mode adjustment. That is, when the control flow channel hole IIf is connected to the valve core flow channel h, it is in semi-active damping mode, and when the control flow channel hole IIf is disconnected from the valve core flow channel h, it is in active damping mode.

[0032] In this embodiment, the driving source further includes a motor 18 and a lead screw 17. The lead screw 17 is connected to the threaded sleeve of the regulating valve core 15, and the motor 18 is fixed outside the magnetorheological damper. The motor 18 is fixed outside the magnetorheological damper and connected to the regulating valve core 15 through the lead screw. The motor 18 can drive the lead screw 17 to rotate, so that the regulating valve core 15 can be slidably adjusted to a suitable position within the regulating cavity driven by the lead screw 17. The motor 18 is preferably a high-speed motor with a magnetorheological brake, which can control the up and down movement of the regulating valve core 15 in real time according to the controller command. That is, by controlling the forward and reverse rotation of the motor 18, the lead screw 17 is driven to rotate forward and reverse. The lead screw 17 is connected to the threaded sleeve of the regulating valve core 15, so that the regulating valve core 15 can be driven to perform reciprocating motion, thereby controlling the flow area or opening and closing of the limit cover control flow channel hole Ie and control flow channel hole IIf, so as to achieve the function of autonomously selecting the working mode under different working environments.

[0033] In this embodiment, the piston cylinder 5 has a rib on its outer side, and there is a gap between the piston cylinder and the outer cylinder. The gap is divided by the rib to form two annular working channels IA and IIB. The piston cylinder wall also has a working channel hole Ia and a working channel hole IIb. The working channel hole Ia is connected to the annular working channel IA, and the working channel hole IIb is connected to the annular working channel IIB. The piston cylinder 5 is lowered by the shoulder at the upper end of the outer cylinder 2, and uppered by the flange at the upper end of the outer cylinder 2 (or by a retaining ring and thread). A sealing ring I6 is provided between the rib and the outer cylinder. The sealing ring I6 can completely prevent the magnetorheological fluid from directly entering the annular working channels IA and IIB, ensuring the accuracy of the designed flow channels.

[0034] In this embodiment, the outer cylinder 2 is provided with a sealing component, and sealing rings III8 are provided on both sides of the sealing component to completely seal the working cylinder. An opening is provided in the middle, through which the piston rod 9 of the piston 7 can pass to connect with an external mechanism. A flange seat 24 and a bushing are provided between the piston rod 9 and the sealing component, so that the piston rod 9 can extend and retract stably and smoothly. Two sets of sealing rings Ⅲ8 are provided between the piston rod 9 and the sealing component. This two-stage sealing combination isolates the magnetorheological fluid from the outside world and prevents leakage. The sleeve has two sets of sleeves, namely sleeve I 25 and sleeve II 27. Sleeve I 25 is located between the flange seat 24 and the piston rod 9 near the second working chamber E. Sleeve II 27 is located between the sealing component and the piston rod 9. Sleeve I 25 and sleeve II 27 are arranged along the length of the piston rod 9. A sealing ring 26 is also provided between sleeve I 25 and sleeve II 27 to prevent the magnetorheological fluid from leaking out. Through the sealing cooperation, two stages of bushings and seals are provided on the inner side of the upper end of the piston cylinder 5 to guide the piston rod 9 and prevent the magnetorheological fluid from leaking from the rod.

[0035] The piston rod extension end and the bottom of the outer cylinder are respectively provided with connecting device I1 and connecting device II21. The connecting device I1 and connecting device II21 can be structures with connecting properties such as lugs, hooks and nuts. Here, lugs are preferred. The lugs are connected to the excitation source assembly and the vibration isolation platform through pins / ball joints to achieve vibration suppression of the system. The lugs are welded and fixedly connected to the piston rod and the bottom of the outer cylinder as a whole.

[0036] In this embodiment, the two operating modes include a semi-active vibration reduction mode and an active vibration reduction mode;

[0037] In the active vibration damping mode, when the motor 18 drives the regulating valve core 15 to move until the control flow channel hole IIf is disconnected from the valve core flow channel h, the system enters the active vibration damping mode (the regulating valve core 15 is in the active mode adjustment working area). To compress the piston 7 (i.e., when the connecting device I1 and the connecting device II21 are relatively close), the current in the external excitation coil 13 of the iron core 12 is adjusted to zero field, and the motor 18 drives the regulating valve core 15 to move upward (closer to the side end cover 16). The magnetorheological fluid 20 in the second control chamber H flows back to the second working chamber E through the connecting flow channel hole IId, the annular working flow channel IIB, and the working flow channel hole IIb in sequence, pushing the piston 7 to move downward. This causes the magnetorheological fluid in the first working chamber D to flow to the first control chamber F through the working flow channel hole Ia, the annular working flow channel IA, the connecting flow channel hole Ic, the annular flow channel C, the control flow channel hole Ie, and the control flow channel hole IIf in sequence. Energy dissipation and vibration suppression are achieved by the motor 18 doing work. To restore the damper to its original state (i.e., when connecting device I1 and connecting device II21 are relatively far apart), the current in the iron core 12 is adjusted to zero field. The motor 18 drives the regulating valve core 15 downwards (away from the side end cover 17). The magnetorheological fluid in the first working chamber F is compressed and flows sequentially through control flow channel holes Ie and IIf, annular flow channel C, connecting flow channel hole Ic, annular working flow channel IA, and working flow channel hole Ia to the first working chamber D. This pushes the piston 7 upwards, causing the magnetorheological fluid in the second working chamber E to flow back to the second control chamber H through working flow channel hole IIb, annular working flow channel IIB, and connecting flow channel hole IId. Energy dissipation and vibration suppression are achieved through the work done by the motor 18. The active vibration reduction mode adjusts the displacement and frequency of the regulating valve core 15 driven by the motor 18 to meet the vibration suppression force requirements under different working conditions and excitation conditions, thereby improving the vibration suppression effect of the platform.

[0038] In the semi-active damping mode, when the motor 18 drives the regulating valve core 15 to move to the point where the control flow channel hole IIf and the valve core flow channel h are connected, the system is in the semi-active damping mode (the regulating valve core 15 is in the semi-active mode adjustment working area). When the magnetorheological damper is in the compression stage (connecting device I1 and connecting device II21 are relatively close), the piston 7 moves downward, and the magnetorheological fluid in the first working chamber D flows through the working flow channel hole Ia to the annular working flow channel IA, and then flows from the annular working flow channel IA through the connecting flow channel hole Ic, the annular flow channel C, the control flow channel hole IIf, and the valve core flow channel h to the second control chamber H, and then flows back from the second control chamber H through the connecting flow channel hole IId, the annular working flow channel IIB, and the working flow channel hole IIb to the second working chamber, using the hole system and flow channel in the flow process to achieve energy dissipation. When the damper is in the recovery phase (connecting device I1 and connecting device II21 are relatively far apart), piston 7 moves upward, and the flow direction is opposite to the compression direction. The magnetorheological fluid flows from the second working chamber E through the working flow channel hole IIb, the annular working flow channel IIB, the connecting flow channel hole IId, the second control chamber H, the valve core flow channel h, the f hole, the annular flow channel C, the control flow channel hole IIf, the annular working flow channel IA, and the working flow channel hole Ia back to the first working chamber D, thus dissipating the excitation energy. According to the needs of different working conditions and excitation conditions, the input current of the excitation coil 13 can be adjusted to regulate the magnetic field strength and change the viscosity of the magnetorheological fluid, achieving dynamic damping adjustment. Simultaneously, the motor 18 drives the regulating valve core 15 to move, dynamically adjusting the conduction of the control flow channel hole IIf, realizing the range adjustment of the semi-active damping base force and maximum force, as well as the bidirectional independent control of the compression and recovery force values.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A multi-mode magnetorheological actuator, characterized in that: include A magnetorheological damper includes a working cylinder and a control cylinder connected in parallel. The working cylinder is equipped with a piston, which divides the working cylinder into a first working chamber and a second working chamber. The control cylinder is equipped with an adjusting valve core, which divides the control cylinder into a first control chamber and a second control chamber. The first working chamber, the second working chamber, the first control chamber, and the second control chamber are filled with magnetorheological fluid. The first working chamber is connected to the first control chamber, and the flow rate within the two chambers is controllable; The second working chamber is connected to the second control chamber, and the flow rate within the two chambers is controllable.

2. The multi-mode magnetorheological actuator according to claim 1, characterized in that: It also includes a mode switching mechanism, which includes a magnetic field generator and a drive source. The magnetic field generator is placed in the control cylinder to change the magnetic field so that the damping of the magnetorheological fluid changes. The regulating valve core can be driven by the drive source to adjust the flow rate between the first working chamber and the first control chamber and the flow rate between the second working chamber and the second control chamber.

3. The multi-mode magnetorheological actuator according to claim 2, characterized in that: The working cylinder includes an outer cylinder and a piston cylinder nested inside the outer cylinder. A floating piston is provided at the end of the piston cylinder. There is a cavity between the floating piston and the bottom of the outer cylinder. A sealing ring and a guide band are provided on the side. The cavity is filled with high-pressure gas.

4. The multi-mode magnetorheological actuator according to claim 1, characterized in that: The control cylinder also includes a side cylinder, and the magnetic field generator is located inside the side cylinder. There is an annular flow channel formed by the gap between the magnetic field generator and the inner wall of the side cylinder. The outer cylinder and the side cylinder are provided with a connecting flow channel hole I and a connecting flow channel hole II. The magnetorheological fluid can flow between the side cylinder and the outer cylinder through the connecting flow channel hole I and the connecting flow channel hole II.

5. The multi-mode magnetorheological actuator according to claim 4, characterized in that: The magnetic field generator is provided with a limiting cover at one end, the side cylinder is provided with a side end cover at one end, and a lower stop cover is provided at the other end; a cavity is formed between the limiting cover and the side end cover; an adjusting valve core is provided in the cavity, and the adjusting valve core can be driven by a driving source to slide in the adjusting cavity.

6. The multi-mode magnetorheological actuator according to claim 5, characterized in that: The limiting cover has a "mountain" shaped cross-section, and the side wall of the limiting cylinder cover is provided with control flow channel hole I and control flow channel hole II. The regulating valve core has valve core flow channels on both sides, a limiting groove at one end, and a threaded sleeve at the other end. The threaded sleeve is connected to a lead screw. The limiting groove cooperates with the protrusion in the middle of the limiting cover to constrain the regulating valve core. The regulating valve core can be driven by a drive source to slide in the regulating cavity, so that the valve core flow channel is connected and disconnected from control flow channel hole I and control flow channel hole II respectively.

7. The multi-mode magnetorheological actuator according to claim 6, characterized in that: The drive source includes a motor and a lead screw. The lead screw is engaged with the threaded sleeve of the regulating valve core. The motor is located outside the magnetorheological damper and can drive the lead screw to rotate, so that the regulating valve core can be adjusted to a position within the regulating cavity by the lead screw.

8. The multi-mode magnetorheological actuator according to claim 3, characterized in that: The electromagnetic generator includes an iron core and an excitation coil wound around the outside of the iron core. The bottom of the side cylinder is provided with a cable port, and the control line of the excitation coil passes through the cable port to connect to an external power source.

9. The multi-mode magnetorheological actuator according to claim 3, characterized in that: The piston cylinder has a rib on its outer side, and there is a gap between the piston cylinder and the outer cylinder. The gap is divided by the rib to form two annular working channels I and annular working channels II. The piston cylinder also has a working channel hole I and a working channel hole II on its cylinder wall. The working channel hole I is connected to the annular working channel I, and the working channel hole II is connected to the annular working channel II.

10. The multi-mode magnetorheological actuator according to claim 3, characterized in that: The outer cylinder is equipped with a sealing component, and sealing rings are provided on both sides of the sealing component to completely seal the working cylinder. An opening is provided in the middle, through which the piston rod of the piston can pass to connect with an external mechanism. A flange seat and a bushing are provided between the piston rod and the sealing component, so that the piston rod can operate stably and smoothly under the sealed working cylinder.

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