Adaptive feed-forward friction compensation through developing an asymmetrical dynamic friction model

2022 ◽  
Vol 170 ◽  
pp. 104691
Author(s):  
Min Wan ◽  
Jia Dai ◽  
Wei-Hong Zhang ◽  
Qun-Bao Xiao ◽  
Xue-Bin Qin
1996 ◽  
Vol 29 (1) ◽  
pp. 2078-2083 ◽  
Author(s):  
C. Canudas-de-Wit ◽  
P. Lischinsky

2011 ◽  
Vol 130-134 ◽  
pp. 2742-2745
Author(s):  
Sun Hua ◽  
Yue Hong Dai ◽  
Chuan Sheng Tang

. The tracing precision is greatly influenced because of the friction when high-precise linear motor moved in a low speed.Explore the ways of nonlinear friction compensation in a practical angle. A tribology mathematical model has been found based on the viscoplasticity theory and Stribeck friction mathematical model.This paper aims at applying the Stribeck friction mathematical model to linear motor slider system and designing the controller.The controller can be designed by the feed-forward Integral to conduct identification and compensation online, according to the characters of tribology model.the stability of systems has also been analyzed by using Liapunov functions and LaSalle Invariance Principle.As has been demonstrated by the experimental results, the friction compensation of this model has improved the tracing performance of linear motor slider system.


Vehicles ◽  
2021 ◽  
Vol 3 (2) ◽  
pp. 212-232
Author(s):  
Ludwig Herzog ◽  
Klaus Augsburg

The important change in the transition from partial to high automation is that a vehicle can drive autonomously, without active human involvement. This fact increases the current requirements regarding ride comfort and dictates new challenges for automotive shock absorbers. There exist two common types of automotive shock absorber with two friction types: The intended viscous friction dissipates the chassis vibrations, while the unwanted solid body friction is generated by the rubbing of the damper’s seals and guides during actuation. The latter so-called static friction impairs ride comfort and demands appropriate friction modeling for the control of adaptive or active suspension systems. In this article, a simulation approach is introduced to model damper friction based on the most friction-relevant parameters. Since damper friction is highly dependent on geometry, which can vary widely, three-dimensional (3D) structural FEM is used to determine the deformations of the damper parts resulting from mounting and varying operation conditions. In the respective contact zones, a dynamic friction model is applied and parameterized based on the single friction point measurements. Subsequent to the parameterization of the overall friction model with geometry data, operation conditions, material properties and friction model parameters, single friction point simulations are performed, analyzed and validated against single friction point measurements. It is shown that this simulation method allows for friction prediction with high accuracy. Consequently, its application enables a wide range of parameters relevant to damper friction to be investigated with significantly increased development efficiency.


1995 ◽  
Vol 117 (2) ◽  
pp. 255-260 ◽  
Author(s):  
Andreas A. Polycarpou ◽  
Andres Soom

The instantaneous normal motion between bodies in a sliding contact is an important variable in determining dynamic friction under unsteady sliding conditions. In order to model friction under dynamic conditions, it is therefore necessary to combine a dynamic model of the sliding system with an accurate model of the friction process. In the present work, the nonlinear normal dynamics of a friction test apparatus are described by a linearized model at a particular steady loading and sliding condition in a mixed or boundary-lubricated regime. The geometry is a line contact. The Hertzian bulk contact compliance and film and asperity damping and stiffness characteristics are included as discrete elements. In Part I of the paper, a fifth-order model is developed for the normal dynamics of the system, using both the Eigensystem Realization Algorithm (ERA) and classical experimental modal analysis techniques. In Part II, this system model is combined with a friction model, developed independently, to describe dynamic friction forces under both harmonic and impulsive applied normal loads.


Author(s):  
Nitish Sinha ◽  
Arun Kumar Singh ◽  
Vinit Gupta ◽  
Jitendra Kumar Katiyar

Adhesion and friction of soft solids on hard surfaces are the important properties for a variety of practical applications. In the present study, Coulomb's law of friction is used for characterizing adhesive friction as well as normal stress-dependent dynamic friction of a gelatin hydrogel on a fixed glass surface. The experimental data, concerning normal stress-dependent dynamic friction of different shear velocity, are obtained from literature. It is observed that both components of friction increase with shear velocity. More importantly, the scaling law shows that adhesive stress varies almost linearly with corresponding coefficient of friction of the hydrogel. A dynamic friction model is also used to analyze the same experimental data to predict a negative normal stress at which dynamic friction reduces to zero, and this result matches closely with the experimental value.


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