According to the hysteresis compensation control method of feedback magnetic induction intensity

a hysteresis compensation controller is designed for the inherent hysteresis nonlinearity of the ferromagnetic material inside the magnetorheological damper. STM32 F103 ZET6 microcontroller unit is used as the control core

the function of magnetorheological damper hysteresis compensation controller is realized by designing conditioning circuit of Hall sensor

pulse width modulation（PWM） signal filtering circuit

voltage amplifier circuit

real-time proportion integration differentiation（PID） control algorithm and human-machine interaction interface. The hysteresis compensation control effect of the controller under three different input current conditions such as window function

step function and semi-sinusoidal function is verified by experiments. The experimental results show that the magnetic field in the damping channel of the magnetorheological damper can track the control current better than that without hysteresis compensation control

which verifies the effectiveness of the hysteresis compensation controller.