WO2023094345A1

WO2023094345A1 - Magnetorheological actuator and rotary control device

Info

Publication number: WO2023094345A1
Application number: PCT/EP2022/082712
Authority: WO
Inventors: Artur Neumann; Rainer Haevescher; Magnus SPREHE; Thorsten Sander
Original assignee: Zf Friedrichshafen Ag
Priority date: 2021-11-25
Filing date: 2022-11-22
Publication date: 2023-06-01
Also published as: DE102021213261A1

Abstract

The invention relates to a magnetorheological actuator (1, 11, 14, 16, 18) for a rotary control device (17) of a vehicle, comprising: a rotary element (2) which can be connected mechanically to a user interface of the rotary control device (17) and is designed to interact with a magnetorheological fluid (3), a rotational movement of the rotary element (2) depending on properties of a magnetic field (19, 21, 23); and at least one arrangement (7) for generating a magnetic field acting on the magnetorheological fluid (3) and/or for influencing the properties thereof, the at least one arrangement (7) being arranged asymmetrically with respect to an axis of rotation (8) of the rotary element (2) such that the magnetic field (21) also rotates upon rotational movement of the rotary element (2). The invention also relates to a rotary control device (17) having a magnetorheological actuator (1, 11, 14, 16, 18) of this kind.

Description

Magnetorheological actuator and rotary control device

The invention relates to a magnetorheological actuator and a rotation control device for a vehicle.

Operating devices for selecting desired functions are known, which have an individual grid for each function. The grid usually takes place via a mechanical latching function. Alternatively, it is known to adjust the haptics of a turntable by means of a magnetic field of a coil, with the turntable being subjected to different braking torques depending on the current and the detent positions desired when turning can be set.

For example, haptic interfaces for control are known from EP 2 065 614 A1, in which an arrangement for influencing properties of a magnetic field for the purpose of modulating the torque transmission between the rotating element and a housing of the haptic interface is described.

The object of the invention is to structurally and/or functionally improve a magnetorheological actuator as mentioned at the outset, in particular to improve the torque transmission. In addition, the object of the invention is to improve the structure and/or function of a rotary control device as mentioned at the outset, in particular to improve the actuation characteristics.

The object is achieved with a magnetorheological actuator having the features of claim 1. In addition, the object is achieved with a rotation control device having the features of claim 24. Advantageous designs and/or developments are the subject matter of the dependent claims.

A magnetorheological actuator can serve or be for a rotation control device of a vehicle. The magnetorheological actuator can also be referred to as an MRF actuator or MRF actuator. The vehicle can be an automobile. The motor vehicle can be a passenger car or truck. The Rotary control device can be a rotary knob or a rotary knob device or a rotary switch.

The magnetorheological actuator can include a rotating element. The rotary element can be designed as a shaft or have a shaft. The shaft can serve and/or be designed to transmit and/or tap off a torque. The rotating element can be a slider or rotor. The rotary element can be mechanically connectable and/or connected to a user interface of the rotary control device. The shaft of the rotating element can be mechanically connectable and/or connected to the user interface. The rotary element can be designed to interact with a magnetorheological fluid. A rotary movement of the rotary element can depend on properties of a magnetic field.

The magnetorheological actuator can comprise at least one arrangement for generating a magnetic field acting on the magnetorheological fluid and/or for influencing its properties. The generated magnetic field can have a substantially horizontal and/or vertical direction of magnetization. The at least one arrangement can be designed to influence, for example the properties, of a magnetic field that is generated, in particular one that it generates itself, and/or to influence a magnetic field that it does not generate itself. The properties can be an intensity, such as field strength, and/or a direction, such as field direction, of the magnetic field. The at least one arrangement can be arranged asymmetrically to an axis of rotation of the rotary element, in particular so that the magnetic field rotates with a rotary movement of the rotary element. The at least one arrangement can be arranged offset to the axis of rotation of the rotary element. The axis of the at least one arrangement, which is defined by a rotational symmetry, can be arranged offset to the axis of rotation of the rotary element, for example parallel to it. For example, the at least one arrangement is not arranged rotationally systemometrically with respect to the axis of rotation of the rotary element. A magnetic field, generated in particular by the at least one arrangement, can rotate together with the rotary element, with no rotation of the Magnetic field takes place relative to the rotating element. The magnetic field can be fixed relative to the rotary element, in particular during a rotary movement of the rotary element.

The magnetorheological fluid (MRF) or magnetorheological liquid can define the behavior of the magnetorheological actuator and/or the rotation control device. The at least one arrangement can be supplied with an electrical voltage and/or current. The voltage and/or current can be varied to induce an ambient magnetic field. The magnetic field can change the viscosity of the magnetorheological fluid. Depending on the magnetic field, in particular depending on properties of the magnetic field, such as intensity, such as field strength, and/or direction, such as field direction, the magnetorheological fluid can vary between a liquid and a solid state. Depending on the magnetic field, in particular depending on properties of the magnetic field, the viscosity of the magnetorheological fluid can be varied and/or adjusted or controlled. The state can be controlled very precisely. A change in properties of the magnetic field can be brought about by the at least one arrangement. In a liquid state, the magnetorheological fluid can transmit little to no torque, particularly between the rotating element and a static element such as a housing. As viscosity increases and the magnetorheological fluid approaches a solid state, shear forces within the magnetorheological fluid and/or between the magnetorheological fluid and the rotating element and/or between the magnetorheological fluid and the static element may increase. This can lead to increased torque transmission, particularly between the rotating element and the static element.

The at least one arrangement can be an electromagnet. The at least one arrangement can be a coil, for example one that forms a magnetic field. The at least one arrangement can have one or more coils, for example coils that form a magnetic field. The coil can be designed to generate the magnetic field acting on the magnetorheological fluid and/or to influence its properties. The at least one arrangement and/or the coil can be arranged on and/or attached to the rotating element. At least one The arrangement and/or the coil may be arranged and/or wound around a portion of the rotating element. The at least one arrangement and/or the coil can enclose the rotating element in an annular manner at least in sections. The at least one arrangement and/or the coil can form a closed ring, for example made up of a number of windings. The rotary element can have at least one contact section. The at least one arrangement and/or the coil can be arranged and/or attached to the at least one contact section of the rotary element. The at least one arrangement and/or the coil can be arranged essentially in the center of the rotary element. The at least one arrangement and/or the coil can extend essentially in the direction of the axis of rotation of the rotary element. The at least one arrangement and/or the coil can extend essentially transversely, for example perpendicularly, to the axis of rotation of the rotary element. The extent of the at least one arrangement and/or coil in the direction of the axis of rotation of the rotary element can be the same as, larger or smaller than the extent of the at least one arrangement and/or coil transverse to the axis of rotation of the rotary element.

The at least one arrangement and/or coil can be connected to the rotating element, in particular in a rotationally fixed manner. The at least one assembly and/or spool can rotate together with the rotating element. The at least one arrangement and/or coil can also rotate during a rotary movement of the rotating element, with the at least one arrangement and/or coil in particular not rotating relative to the rotating element. The magnetorheological actuator can have several, in particular two, three or four, arrangements for generating the magnetic field acting on the magnetorheological fluid and/or for influencing its properties. The magnetorheological actuator can have several, in particular two, three or four, coils for generating the magnetic field acting on the magnetorheological fluid and/or for influencing its properties. The plurality of arrangements and/or coils can each be arranged and/or wound around a section of the rotating element or can each enclose a section of the rotating element in the form of a ring. The at least one array and/or coil may define a pole. Each array and/or coil can define a pole. The rotating element can by means of at least one Arrangement and / or coil single-pole or multi-pole, such as two, three or four poles, be configured.

The magnetorheological actuator can have a magnet. The magnet can be a permanent magnet. The magnet can have and/or generate a magnetic field acting on the magnetorheological fluid. The magnetic field of the magnet can have a substantially horizontal and/or vertical direction of magnetization. The magnet can be arranged on and/or attached to the at least one arrangement and/or the rotary element. The magnet can be connected to the at least one arrangement and/or to the rotating element, in particular in a rotationally fixed manner. The magnet can be arranged symmetrically to the axis of rotation of the rotating element. The magnet can be arranged concentrically to the rotating element and/or to the axis of rotation of the rotating element. The magnet and/or the rotating element can form a rotationally symmetrical body with respect to the axis of rotation of the rotating element. The magnet can be arranged on an end face of the rotary element and/or can be fastened to it. The magnet can cover the end face of the rotary element, for example over its entire surface. At least in sections, the magnet can have a shape complementary to the rotating element. The magnet can be arranged within a recess of the rotating element.

The magnetorheological actuator can have a static element. The magnetorheological actuator can be designed to transmit a torque between the rotary element and the static element, for example to modulate a torque transmission. The static element can be a housing section or housing, for example of the magnetorheological actuator or the rotary control device. The static element can be fixed with respect to a housing. The static element may be fixed relative to the vehicle. The static element can enclose the rotary element at least in sections or completely. The static element can be U-shaped and/or bell-shaped. The static element can be a yoke. The static element can be ring-shaped and/or cylindrical, such as circular-cylindrical. A gap, for example a torque-generating gap, such as an MRF gap, can be provided or formed between the rotating element and the static element. The magnetorheological fluid can be arranged or present in this gap. The gap can be ring-shaped and/or cylindrical, such as circular-cylindrical. The diameter of the gap between the rotating element and the static element can be larger than the height of the gap. The diameter of the gap can essentially extend transversely, in particular perpendicularly, to the axis of rotation of the rotary element. The height of the gap can essentially extend in the direction of the axis of rotation of the rotary element. The diameter of the gap can be essentially transverse, in particular perpendicular, to the height of the gap.

A gap, such as a control gap, can be provided at least in sections between the rotating element and the at least one arrangement. A permeable element, in particular a low-permeability element, can be arranged in this gap. The permeable element can be designed to break through the magnetic circuit and/or flux of the at least one arrangement. The permeable element can be controlled so that the magnetic circuit and/or flux of the at least one arrangement is either broken or not. The gap between the rotating element and the at least one arrangement and/or the permeable element can be arranged substantially vertically and/or parallel to at least a portion of the arrangement. The gap between the rotating element and the at least one arrangement and/or the permeable element can essentially extend in the direction of the axis of rotation of the rotating element. The gap and/or the permeable element can be arranged substantially centrally to the rotating element. The gap and/or the permeable element can be arranged adjacent to the at least one arrangement and/or coil, for example adjacent in the direction of the axis of rotation of the rotary element or adjacent in the direction transverse/perpendicular to the axis of rotation of the rotary element. The gap and/or the permeable member may be located within the annulus formed by the at least one array and/or coil. The gap between the rotary element and the at least one arrangement can, for example in the direction transverse/perpendicular to the axis of rotation of the rotary element, be greater than the gap between the rotary element and the static element.

The magnetorheological actuator can have a chamber. The magnetorheological fluid can be arranged or present in the chamber. The chamber can contain the magnetorheological fluid. The static element can have and/or form the chamber. The rotary element can be arranged and/or mounted completely or at least in sections within the chamber. The at least one arrangement can be arranged and/or supported within the chamber. The magnet can be arranged and/or supported within the chamber. The rotating element, the at least one arrangement and the magnet can be arranged and/or supported together within the chamber. The rotating element and/or the magnet and/or the at least one arrangement can be configured to rotate within the chamber, in particular together. The chamber can be fixed with respect to the static element. Torque transmission between the rotary element and an inner surface of the chamber can depend on the properties of the magnetic field, in particular the at least one arrangement and/or the magnet.

The rotating element can comprise and/or form the chamber. The static element can be arranged at least in sections within the chamber. Torque transmission between an inner surface of the chamber of the rotating element and the static element can depend on the properties of the magnetic field, in particular the at least one arrangement and/or the magnet.

The magnetic flux of the at least one arrangement and/or the magnet can penetrate the gap between the rotary element and the static element. The static element and/or the rotary element can be made of a magnetic flux-carrying material. The static element and/or the rotary element can have a ferromagnetic surface, such as an inner surface or outer surface, at least in sections. The static element and/or the rotating element can be made of a ferromagnetic material. The magnetic flux of the at least one arrangement and/or the magnet can close via the static element and/or via its ferromagnetic surface.

The at least one arrangement can be designed and/or controllable in such a way that it strengthens and/or compensates for the magnetic flux of the magnet.

A rotation control device may be for a vehicle. The vehicle can be an automobile. The motor vehicle can be a passenger car or truck. The rotation control device can have the magnetorheological actuator described above and/or below.

The rotary control device may be a rotary knob or rotary knob device or a rotary switch. The rotation control device may be configured to select modes such as operating modes of a vehicle, for example. The rotary control device can be designed for selecting and/or controlling functions of the vehicle, for example for navigating through multimedia menus or for controlling multimedia functions. Rotational control device may include a user interface. The user interface can be connected, in particular mechanically connected, to the magnetorheological actuator and/or its rotary element. The user interface may be configured to rotate with respect to the axis of rotation of the rotating element. The user interface may include a user interface surface. The user interface surface may be part of a vehicle's control panel.

The rotation control device may comprise a sensor device for monitoring the orientation and/or rotation of the user interface and/or the rotation element. Rotation control device can include a current interface and/or current source, which is designed to provide current for energizing the at least one arrangement and/or coil of the magnetorheological actuator for generating the magnetic field. The rotation control device may include a processing unit for generating control signals. The processing unit can generate and/or provide control signals, in particular based on sensor data from the sensor device.

The rotation control device can include a communication interface for transmitting control signals from the processing unit, in particular to the magnetorheological actuator. The processing unit can be designed to output command signals for controlling the at least one arrangement of the magnetorheological actuator. The magnetorheological actuator, in particular its at least one arrangement, can be designed to generate the magnetic field and/or to influence its properties according to control signals from the processing unit. The rotation control device and/or the magnetorheological actuator can have a circuit, for example on a substrate. The circuit can be designed to supply a pulse width modulated (PWM) current and/or a pulse width modulated (PWM) voltage to the at least one arrangement and/or coil, in particular according to the control signals/command signals from the processing unit.

In other words, a rotary actuator with magnetorheological fluid can be provided. The actuator can be a rotary switch, for example a force feedback rotary switch (“forced feedback rotary switch”). The torque-forming area in a torque-forming gap, such as an MRF gap, may be increased. The diameter of the torque-forming gap can be larger than the height. The actuator can have a magnetic field-forming coil, with the magnetic field-forming coil not being implemented rotationally symmetrically, but in such a way that when the actuator or its rotary element/rotor rotates, the magnetic field, which is fixed to the rotor, rotates with the rotary element/rotor. According to one variant, the actuator can have a permanent magnet. A control gap of low permeability can be provided parallel and/or vertical to the coil, which breaks through the magnetic circuit. According to a variant, the actuator can have several poles in the rotary element/rotor. The poles can be formed by coils. The number of poles can be scalable. Exemplary embodiments of the invention are described in more detail below with reference to figures, which show schematically and by way of example:

1 shows a perspective view of a magnetorheological actuator according to a variant;

FIG. 2 shows a side view of the magnetorheological actuator according to FIG. 1 ;

FIG. 3 shows a plan view of the magnetorheological actuator according to FIG. 1 ;

4 shows a magnetorheological actuator according to a further variant;

5 shows a magnetorheological actuator according to a further variant;

6 shows a magnetorheological actuator according to a further variant;

7 shows a top view of a rotation control device with a magnetorheological actuator according to a further variant;

FIG. 8 shows a side view of the rotation control device with the magnetorheological actuator according to FIG. 7;

FIG. 9 shows a plan view of the rotation control device with the magnetorheological actuator according to FIG. 7 in the de-energized state;

FIG. 10 shows a side view of the rotation control device with the magnetorheological actuator according to FIG. 7 in the de-energized state;

FIG. 11 shows a plan view of the rotation control device with the magnetorheological actuator according to FIG. 7 in the amplification state;

FIG. 12 shows a side view of the rotation control device with the magnetorheological actuator according to FIG. 7 in the amplification state; FIG. 13 shows a plan view of the rotation control device with the magnetorheological actuator according to FIG. 7 in the compensation state; and

FIG. 14 shows a side view of the rotation control device with the magnetorheological actuator according to FIG. 7 in the compensation state.

1 shows a perspective view of a magnetorheological actuator 1 according to a variant. 2 is a side view and FIG. 3 is a plan view of the magnetorheological actuator 1. The magnetorheological actuator 1 is for a rotation control device of a vehicle.

The magnetorheological actuator 1 has a rotary element 2 designed as a rotor, which can be mechanically connected to a user interface of the rotary control device and is designed to interact with a magnetorheological fluid 3, with a rotary movement of the rotary element 2 depending on properties of a magnetic field. The magnetorheological actuator 1 also has a static element 4 designed as a yoke, which includes a chamber 5 . The rotating element 2 and the static element 5 are made of a magnetic flux-carrying material, for example a ferromagnetic material. The chamber 5 contains the magnetorheological fluid 3 . The rotating member 2 is rotatably disposed within the chamber 5 . An MRF gap 6 is formed between the rotating element 2 and the static element 4 .

The magnetorheological actuator 1 has at least one arrangement 7 designed as a magnetic field-forming coil for generating a magnetic field acting on the magnetorheological fluid (illustrated by the arrows in Figs. 1 to 3 with field strength H and flux density B) and for influencing the properties of a magnetic field. The coil 7 is arranged or wound around a portion of the rotary element 2 and is non-rotatably connected to the rotary element. The coil 7 is fixed asymmetrically to an axis of rotation 8 of the rotary element 2, so that the magnetic field of the coil 7 rotates around the axis of rotation 8 when the rotary element 2 rotates.

The magnetorheological actuator 1 is designed to transmit a torque between the rotary element and the static element, in particular to modulate a torque transmission.

The magnetorheological actuator 1 also has a shaft 9 arranged on the rotating element 2 in order to tap off a torque, as well as a current interface/current source 10 in order to energize the coil according to control signals and to generate and/or influence a defined magnetic field.

4 shows a magnetorheological actuator 11 according to a further variant. In contrast to the magnetorheological actuator 1 according to FIGS. 1 to 3, the magnetorheological actuator 11 also has a permanent magnet 12 and a control gap 13. Furthermore, the diameter of the MRF gap 6 is greater than the height of the MRF gap 6.

The permanent magnet 12 has a magnetic field acting on the magnetorheological fluid 3 . The permanent magnet 12 is designed to complement the rotating element 2 and is fastened to an end face of the rotating element 2 , so that the permanent magnet 12 also rotates about the axis of rotation 8 when the rotating element 2 rotates. The permanent magnet 12 is arranged symmetrically to the axis of rotation 8 of the rotary element 2 . The magnetic field generated by the coil 7 can influence the magnetic field of the permanent magnet, for example amplifying and/or compensating for it.

The control gap 13 is arranged between the rotating element 2 and the spool 7 essentially vertically and/or parallel to at least a portion of the spool 7 . The control gap 13 is larger than the MRF gap 6. A permeable, in particular low-permeability, element is arranged in the control gap 13, which is designed to break through the magnetic circuit and/or flux of the coil 7. chen. The control gap 13 extends essentially over the entire height of the coil 7 in the direction of the axis of rotation 8.

Incidentally, additional reference is made in particular to Figs. Referenced 1 to 3 and the associated description.

5 shows a magnetorheological actuator 14 according to a further variant. In contrast to the magnetorheological actuator 11 according to FIG. 4, the magnetorheological actuator 14 has a recess 15 in the rotating element 2 . A smaller permanent magnet 12 is arranged in the recess 15 .

Incidentally, additional reference is made in particular to Figs. 1 to 4 and the associated description.

6 shows a magnetorheological actuator 16 according to a further variant. The magnetorheological actuator 16 is designed with 4 poles and for this purpose has four coils 7 arranged in a rotationally fixed manner on the rotating element 2 .

Incidentally, additional reference is made in particular to Figs. 1 to 5 and the associated description.

Figs. 7 to 14 show a rotation control device 17 with a magnetorheological actuator 18 according to a further variant. The magnetorheological actuator 18 essentially corresponds to the magnetorheological actuator 11. However, the control gap 13 is arranged within the ring of the coil 7.

The magnetorheological actuator 18 also has the rotary element 2 with its axis of rotation 8, the static element 4 with the chamber 5, the MFR gap 6 between the rotary element 2 and the static element 4, the coil 7, which is non-rotatable on the rotary element 2 and arranged asymmetrically to the axis of rotation 8 , the shaft 9 arranged on the rotating element 2 and the permanent magnet 12 . The magnetorheological fluid 3 is in the chamber 5 and thus in the MRF gap 6. The control gap 13 is larger than the MRF gap 6. The static element is designed as a ferromagnetic häuse designed The shaft 9 can tap the torque. The permanent magnet 12 has a magnetic field 19 (see FIGS. 9 and 10) with a substantially horizontal direction of magnetization. The rotating element 2 forms with the coil 7 a 1-pole rotor with an electromagnetic circuit. The rotating element 2 can form a multi-pole rotor with the coil 7 and/or a plurality of coils 7 .

In Fig. 9 and 10, the magnetorheological actuator 18 is shown in a currentless state. In this state, the coil 7 does not generate and/or influence a magnetic field. The magnetic flux (illustrated by circles 20) of the permanent magnet 12 penetrates the MRF gap 6 and closes via the static element 4 or its jacket/surface. The magnetic flux 20 rotates with the permanent magnet 12 and the rotating element 2 about the axis of rotation 8.

In FIGS. 11 and 12 the magnetorheological actuator 18 is in an amplification state in which the coil 7 is energized in such a way that it generates a magnetic field 21 with a magnetic flux (illustrated by the circles 22) so that the magnetic field is amplified. The magnetic flux 20 of the permanent magnet 12 and the magnetic flux 22 of the magnetic field 21 generated by the coil 7 penetrates the MRF gap 6 and closes via the static element 4 or its jacket/surface. As a result, a large, such as maximum, torque can be achieved or set.

In Fig. 13 and 14, the magnetorheological actuator 18 is in a compensation state in which the coil 7 is energized and/or the control gap 13 is controlled in such a way that compensation takes place and a magnetic field 23 with a magnetic flux (illustrated by the Circles 24) arises that the MRF gap 6 does not penetrate and does not close over the static element 4. As a result, a lower, or no, torque can be achieved or adjusted.

Incidentally, additional reference is made in particular to Figs. 1 to 6 and the associated description. In particular, “may” denotes optional features of the invention. Accordingly, there are also developments and/or exemplary embodiments of the invention which additionally or alternatively have the respective feature or features.

If necessary, isolated features can also be selected from the combinations of features disclosed here and used in combination with other features to delimit the subject matter of the claim, eliminating any structural and/or functional relationship that may exist between the features.

reference sign

Magnetorheological actuator

rotary element

Magnetorheological Fluid

static element

chamber

MRF gap

arrangement / coil

axis of rotation

Wave

Power interface / power source

Magnetorheological actuator

permanent magnet

control gap

Magnetorheological actuator

recess

Magnetorheological actuator

rotation control device

Magnetorheological actuator

magnetic field of the permanent magnet

Magnetic flux of the permanent magnet

magnetic field of the coil

Magnetic flux of the coil

Magnetic field in the compensation state

Magnetic flux in compensation state

Claims

patent claims

A magnetorheological actuator (1, 11, 14, 16, 18) for a rotary control device (17) of a vehicle, comprising:

- a rotary element (2) which can be mechanically connected to a user interface of the rotary control device (17) and is designed to interact with a magnetorheological fluid (3), a rotary movement of the rotary element (2) being dependent on properties of a magnetic field (19, 21, 23 ) is dependent; and

- at least one arrangement (7) for generating a magnetic field acting on the magnetorheological fluid (3) and/or for influencing its properties, characterized in that the at least one arrangement (7) is asymmetrical to an axis of rotation (8) of the rotary element (2) is arranged so that the magnetic field (21) rotates with a rotary movement of the rotary element (2).

2. Magnetorheological actuator (1, 11, 14, 16, 18) according to claim 1, characterized in that the at least one arrangement (7) is or has a coil (7), in particular one that forms a magnetic field, and/or the at least one arrangement ( 7) and/or the coil (7) is arranged or wound around a section of the rotating element (2).

3. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims, characterized in that the magnetorheological actuator (1, 11, 14, 16, 18) has several, in particular two, three or four arrangements (7) for generating a magnetic field (21) acting on the magnetorheological fluid (3) and/or for influencing its properties.

4. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims, characterized in that the rotating element (2) by means of the at least one arrangement (7) has one or more poles, such as two, three or four-pole, is designed.

5. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims, characterized in that the at least one arrangement (7) is connected to the rotary element (2), in particular non-rotatably.

6. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims, characterized in that the magnetorheological actuator (1, 11, 14, 16, 18) has a magnet (12), in particular permanent magnets (12 ), which has a magnetic field (19) acting on the magnetorheological fluid (3).

7. Magnetorheological actuator (1, 11, 14, 16, 18) according to claim 6, characterized in that the magnet (12) is connected to the at least one arrangement (7) and/or to the rotary element (2), in particular non-rotatably is.

8. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims 6 to 7, characterized in that the magnet (12) is symmetrical to the axis of rotation (8) of the rotary element (2) and / or an end face of the rotating element (2) is arranged.

9. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims 6 to 8, characterized in that the magnet (12) has a shape complementary to the rotary element (2) at least in sections and/or within it a recess (15) of the rotary element (2) is arranged.

10. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims, characterized in that the magnetorheological actuator (1, 11, 14, 16, 18) has a static element (4), wherein the magnetorheological actuator (1, 11, 14, 16, 18) is designed to transmit a torque between the rotating element (2) and the static element (4), in particular to modulate a torque transmission.

11. Magnetorheological actuator (1, 11, 14, 16, 18) according to claim 10, characterized in that between the rotating element (2) and the static element (4) a, in particular torque-forming, gap (6), such as MRF gap (6) is provided, in which the magnetorheological fluid (3) is arranged.

12. Magnetorheological actuator (1, 11, 14, 16, 18) according to claim 11, characterized in that the diameter of the gap (6) between the rotating element (2) and the static element (4) is greater than the height of the gap (6).

13. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims, characterized in that between the rotating element (2) and the at least one arrangement (7) at least in sections a gap (13), such as Steuer - gap (13) is provided, in which a permeable, in particular low-permeability, element is arranged, which is designed to break through the magnetic circuit and/or flux (22) of the at least one arrangement (7).

14. Magnetorheological actuator (1, 11, 14, 16, 18) according to claim 13, characterized in that the gap (13) between the rotary element (2) and the at least one arrangement (7) is substantially vertical and/or parallel to at least one section of the arrangement (7) is arranged.

15. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims 13 to 14, characterized in that the gap (13) between the rotating element (2) and the at least one arrangement (7) is larger as the gap (6) between the rotating element (2) and the static element (4).

16. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims, characterized in that the magnetorheological actuator (1, 11, 14, 16, 18) has a chamber (5) which the magnetorheological Fluid (3) contains.

17. Magnetorheological actuator (1, 11, 14, 16, 18) according to claim 16, characterized in that the rotary element (2) at least in sections and/or the magnet (12) and/or the at least one arrangement (7) within the Chamber (5) is / are arranged and / or is / are designed to rotate within the chamber (5), in particular together, wherein the chamber (5) is fixed with respect to the static element (4) so that a torque transmission

19 The connection between the rotating element (2) and an inner surface of the chamber (5) depends on the properties of the magnetic field.

18. Magnetorheological actuator (1, 11, 14, 16, 18) according to claim 16, characterized in that the rotating element (2) comprises the chamber (5) and the static element (4) is arranged at least in sections within the chamber (5). is, so that a torque transmission between an inner surface of the chamber (5) of the rotating element (2) and the static element (4) depends on the properties of the magnetic field.

19. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims, characterized in that the magnetic flux (20, 22) of the at least one arrangement (7) and / or the magnet (12) the Gap (6) between the rotating element (2) and the static element (4) penetrates.

20. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims, characterized in that the static element (4) has at least sections of a ferromagnetic surface, such as an inner surface or outer surface, and/or consists of a ferromagnetic material is made.

21. Magnetorheological actuator (1, 11, 14, 16, 18) according to claim 20, characterized in that the magnetic flux (20, 22) of the at least one arrangement (7) and / or the magnet (12) via the static Element (4) and / or closes on its ferromagnetic surface.

22. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims, characterized in that the at least one arrangement (7) is designed to strengthen the magnetic flux (20) of the magnet (12). and/or compensate.

23. Magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims, characterized in that the rotary element (2) is designed as a shaft or has a shaft (9).

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24. Rotation control device (17) for a vehicle, comprising a magnetorheological actuator (1, 11, 14, 16, 18) according to at least one of the preceding claims 1 to 23.

25. Rotational control device (17) according to claim 24, comprising a user interface which is mechanically connected to the rotating element (2) of the magnetorheological actuator (1, 11, 14, 16, 18), wherein the user interface is designed in such a way that it rotates with respect to the axis of rotation (8) of the rotary member (2) to rotate.

26. Rotation control device (17) according to at least one of the preceding claims 24 to 25, comprising a sensor device for monitoring the orientation and/or rotational movement of the user interface, and/or a processing unit for generating control signals, the control signals being based on sensor data from the sensor device, and /or a communication interface for transmitting control signals from the processing unit, and/or the magnetorheological actuator (1, 11, 14, 16, 18), in particular the at least one arrangement (7) of which is designed to generate a magnetic field in accordance with control signals from the processing unit generate and/or influence its properties.

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