Investigation on friction-induced judder of vehicle driveline based on a nonlinear friction model

2021 ◽  
pp. 095440702110632
Author(s):  
Shili Chang ◽  
Yuanfeng Xia ◽  
Jian Pang ◽  
Liang Yang
Keyword(s):  
Front Wheel ◽  
Friction Model ◽  
Friction Torque ◽  
The Self ◽  
Lumped Parameter Model ◽  
Torsional Stiffness ◽  
Vehicle Body ◽  
Nonlinear Friction ◽  
Stick Slip ◽  
Friction Element

Due to friction characteristics of clutch, the driveline is prone to cause a judder during vehicle starting, and then to cause the vehicle body to vibrate, which affects driving quality. In order to analyze the judder phenomenon, a nonlinear numerical friction model based on the Gaussian friction model is established in this paper. For the driveline of a front-wheel-drive vehicle, a five-degree-of-freedom (5DOF) lumped parameter model including a nonlinear friction element is established. The complex mode of the driveline during the clutch in slip condition is calculated. The key parameters affecting the driveline stability are analyzed. The self-excited judder and pressure-induced judder of the driveline are numerically simulated, and the corresponding causes are analyzed. The nonlinear friction torque of the clutch is also calculated. Furthermore, the effects of the key parameters such as the torsional stiffness and damping of the clutch and drive shaft suppressing the self-excited judder and pressure-induced judder are numerically studied respectively. Compared with the widely used Karnopp friction model, the nonlinear numerical friction model established in this paper comprehensively includes the stribeck effect in slip and the friction torque characteristics in stick. The phenomena of the judder and stick-slip of the driveline during vehicle starting are more accurately simulated. The simulation results are in good agreement with the experimental results, which verify the accuracy and effectiveness of the dynamic model including the nonlinear friction element established in this paper.

A Nonlinear Friction Model for an Electromechanical Actuator Valve

2015 ◽  
Vol 799-800 ◽  
pp. 1096-1101
Author(s):  
Zsolt Horváth
Keyword(s):  
Fault Detection ◽  
Linear Model ◽  
Friction Model ◽  
Experimental Results ◽  
Experimental Setup ◽  
Nonlinear Friction ◽  
Stick Slip ◽  
Stribeck Effect ◽  
Throttle Valve ◽  
Friction Models

In this work we have extended a basic linear model of the Electromechanical Throttle Valve to a nonlinear friction model, which captures the most important friction phenomenon of interest for fault detection. In our examination we have implemented the Tustin’s friction model. This nonlinear friction model has only 4 parameters but describes the friction phenomenon of the Stribeck effect also it includes both the Stick and Slip regimes. To the validation of the actuator model and examination of the friction models we have performed experiments using the experimental setup of NI LabVIEW CompactRIO. The friction phenomenon as hysteresis, stick-slip and Stribeck effects, are an interest for fault detection of the Actuator Valve. The experimental results have shown, that Tustin’s model provides a good approach for modeling of the friction behaviour of the Electromechanical Throttle Valve.

Modeling and Control of Coupled Torsional and Lateral Vibrations in Drill Strings

2015 ◽  
Author(s):  
Liu Hong ◽  
Jaspreet Singh Dhupia
Keyword(s):  
Sliding Mode ◽  
Good Control ◽  
Friction Torque ◽  
Lumped Parameter Model ◽  
Oil Well ◽  
Lateral Instability ◽  
Stick Slip ◽  
Rock Interaction ◽  
Lateral Vibrations ◽  
Lumped Parameter

Excessive vibrations of the drill strings, e.g., the stick-slip vibration, are the primary cause of premature failures and drilling inefficiencies in oil well drilling. To investigate and suppress such vibrations, this paper studies the dynamics of drill strings using a lumped parameter model, in which both the torsional stick-slip and lateral vibrations are taken into consideration. The friction torque due to the downhole bit-rock interaction, which plays a key role in stick-slip vibration, is modeled as a hysteretic dry friction function. Simulated results of this developed model are shown to have a close qualitative agreement with the field observations in terms of stick-slip vibrations. Afterwards, a sliding mode controller is applied to mitigate the undesired vibrations of drill strings. A good control performance in suppressing the stick-slip phenomenon is demonstrated for the proposed controller. However, numerical simulations also demonstrate that the control action can excite lateral instability in the system, which can result in impacts between the drill collars and the borehole wall due to the large amplitude in lateral vibrations. Thus, a proper choice of the control parameters is essential to suppress the vibrations in the drill strings. The developed lumped parameter model describing the coupled torsional and lateral response in the controlled drill strings presented in this paper can be used to aid in offline tuning of those control variables.

Compensation and Estimation of Friction by Using On-Line Input Estimation Algorithm

2014 ◽  
Vol 136 (2) ◽  
Author(s):  
Horng-Yuan Jang ◽  
Yong-Shun Luo
Keyword(s):  
Control System ◽  
Robustness Analysis ◽  
Estimation Algorithm ◽  
Friction Model ◽  
Friction Torque ◽  
Positioning System ◽  
Nonlinear Friction ◽  
Input Estimation ◽  
On Line ◽  
And Performance

In this paper, a compensation method of nonlinear friction using on-line input estimation (IE) method is developed. To illustrate the validity and performance of the proposed algorithm applied to positioning system, comparisons with the results using the Gomonwattanapanich method and robustness analysis are performed. The simulation result shows that the estimated friction torque does not need any assumption in the pattern of friction model in advance, the proposed algorithm has consistent robustness to diverse friction characteristics, and the method can significantly improve the performance of a control system.

Longitudinal vibration of a resilient wheel under the adhesion limit

2018 ◽  
Vol 233 (4) ◽  
pp. 370-381 ◽  
Author(s):  
Yang Yang ◽  
Ding Jun-jun ◽  
Li Fu ◽  
Li Jin-cheng
Keyword(s):  
High Speed ◽  
Longitudinal Vibration ◽  
Operating Conditions ◽  
Torsional Stiffness ◽  
Contact Theory ◽  
Vehicle Body ◽  
Negative Slope ◽  
Stick Slip ◽  
Low Speed ◽  
Driving Conditions

In order to study the longitudinal vibration law of a resilient wheel under the adhesion limit of different working conditions, two longitudinal vibration models of the resilient wheel of a motor vehicle are established, and the vibration laws and influencing factors of the resilient wheel under different operating conditions are studied by simulation. The model of the resilient wheel under low-speed driving and low adhesive operating conditions is established based on the Fastsim wheel/rail contact theory, and the other high-speed model of the resilient wheel is established by considering adhesion curve negative slope characteristics based on the Polach wheel/rail contact theory. The results show that at low-speed driving conditions, the longitudinal vibration of the resilient wheel is more violent than that of the solid wheel, and the sliding vibration of the resilient wheel at the adhesion limit is far greater than the nonadhesion limit at low-speed driving conditions. When the rail surface is polluted and the adhesion coefficient is low, with the speed increasing to 80 km/h, stick-slip vibration occurs on the resilient wheel due to the increased vibration between the wheel rim and the wheel hub. Under high-speed conditions, owing to the negative slope characteristic of the adhesion curve, the wheel adhesion recovery time decreases with the reduction of driving torque. The amplitude of vibration for the above two conditions increases with the increase in the stiffness of the motor boom and the longitudinal stiffness of the primary suspension. With the increase in the value of the radial stiffness and torsional stiffness of the resilient wheel, the vibration amplitude of the resilient wheel becomes smaller or suppressed. The vibration of the resilient wheel is transmitted to the frame through the primary suspension, which has little effect on the vibration of the vehicle body.

Modeling of Piezo-Actuated Stick-Slip Micro-Drives: An Overview

2012 ◽  
Vol 81 ◽  
pp. 39-48 ◽  
Author(s):  
Ha Xuan Nguyen ◽  
Christoph Edeler ◽  
Sergej Fatikow
Keyword(s):  
Mechanical Model ◽  
Integrated Model ◽  
Friction Model ◽  
Fundamental Importance ◽  
Future Research ◽  
Stick Slip ◽  
Research Activities ◽  
Model Combining ◽  
Friction Models

This paper gives an overview about problems of modeling of piezo-actuated stick-slip micro-drives. It has been found that existing prototypes of such devices have been investigated empirically. There is only few research dealing with the theory behind this kind of drives. By analyzing the current research activities in this field, it is believed that the model of the drive depends strongly on the friction models, but in most cases neglecting any influences of the guilding system.These analyses are of fundamental importance for an integrated model combining friction model and mechanical model offering promising possibilities for future research.

Experimental Analysis of Static Stiffness for Vehicle Body in White

2012 ◽  
Vol 248 ◽  
pp. 69-73 ◽  
Author(s):  
Shu Ming Chen ◽  
Xue Wei Song ◽  
Chuan Liang Shen ◽  
Deng Feng Wang ◽  
Wei Li
Keyword(s):  
Test Bench ◽  
Bending Stiffness ◽  
Torsional Stiffness ◽  
Vehicle Body ◽  
Torsional Angle ◽  
Static Stiffness ◽  
Torsional Deformation ◽  
Automotive Body ◽  
Body In White ◽  
Stiffness Characteristics

In order to know the static stiffness characteristics of the vehicle body in white, the bending stiffness and torsional stiffness of an automotive body in white were tested on a test bench of the static stiffness of an automotive BIW. The bending stiffness and bending deformation of the bottom of the BIW were determined. Also, the torsional stiffness and torsional deformation of the bottom of the BIW were obtained. The fitting curves and equations between loading torque and torsional angle were acquired at clockwise and counterclockwise loading, respectively.

Modeling of nonlinear torsional vibration of the automotive powertrain

2016 ◽  
Vol 24 (9) ◽  
pp. 1774-1786 ◽  
Author(s):  
Sérgio J Idehara ◽  
Fernando L Flach ◽  
Douglas Lemes
Keyword(s):  
Natural Frequency ◽  
Torsional Vibration ◽  
Degrees Of Freedom ◽  
Front Wheel ◽  
Torsional Stiffness ◽  
Bench Test ◽  
Passenger Car ◽  
Engine Torque ◽  
Friction Moment ◽  
Wheel Drive

A vibration model of the powertrain can be used to predict its dynamic behavior when excited by fluctuations in the engine torque and speed. The torsional vibration resulting from torque and speed fluctuations increases the rattle noise in the gearbox and it should be controlled or minimized in order to gain acceptance by clients and manufactures. The fact that the proprieties of the torsional damper integrated into the clutch disc alter the dynamic characteristic of the system is important in the automotive industry for design purposes. In this study, bench test results for the characteristics of a torsional damper for a clutch system (torsional stiffness and friction moment) and powertrain torsional vibration measurements taken in a passenger car were used to verify and calibrate the model. The adjusted model estimates the driveline natural frequency and the time response vibration. The analysis uses order tracking signal processing to isolate the response from the engine excitation (second-order). It is shown that a decrease in the stiffness of the clutch disc torsional damper lowers the natural frequency and an increase in the friction moment reduces the peak amplitude of the gearbox torsional vibration. The formulation and model adjustment showed that a nonlinear model with three degrees of freedom can represent satisfactorily the powertrain dynamics of a front-wheel drive passenger car.

Study of stick–slip suppression and robustness to parametric uncertainty in drill strings containing torsional vibration tool using sliding-mode control

2021 ◽  
pp. 146441932110452
Author(s):  
Jialin Tian ◽  
Jie Wang ◽  
Siqi Zhou ◽  
Yinglin Yang ◽  
Liming Dai
Keyword(s):  
Torsional Vibration ◽  
Complex Dynamics ◽  
Sliding Mode ◽  
Parametric Uncertainty ◽  
Drill String ◽  
Lumped Parameter Model ◽  
Drilling Process ◽  
Drill Bit ◽  
Stick Slip ◽  
Drilling Operations

Excessive stick–slip vibration of drill strings can cause inefficiency and unsafety of drilling operations. To suppress the stick–slip vibration that occurred during the downhole drilling process, a drill string torsional vibration system considering the torsional vibration tool has been proposed on the basis of the 4-degree of freedom lumped-parameter model. In the design of the model, the tool is approximated by a simple torsional pendulum that brings impact torque to the drill bit. Furthermore, two sliding mode controllers, U1 and U2, are used to suppress stick–slip vibrations while enabling the drill bit to track the desired angular velocity. Aiming at parameter uncertainty and system instability in the drilling operations, a parameter adaptation law is added to the sliding mode controller U2. Finally, the suppression effects of stick–slip and robustness of parametric uncertainty about the two proposed controllers are demonstrated and compared by simulation and field test results. This paper provides a reference for the suppression of stick–slip vibration and the further study of the complex dynamics of the drill string.

Stick-Slip Compensation of Micro-Positioning Using Elastic-Plastic Static Friction Model

2008 ◽  
Vol 47-50 ◽  
pp. 246-249
Author(s):  
Min Gyu Jang ◽  
Chul Hee Lee ◽  
Seung Bok Choi
Keyword(s):  
Static Friction ◽  
Friction Model ◽  
Smart Structure ◽  
Asperity Contact ◽  
Stick Slip ◽  
Elastic Plastic ◽  
Highly Nonlinear ◽  
Bridge Type ◽  
Structural Parts ◽  
Rough Surface Contact

In this paper, a stick-slip compensation for the micro-positioning is presented using the statistical rough surface contact model. As for the micro-positioning structure, PZT (lead(Pb) zirconia(Zr) Titanate(Ti)) actuator is used to drive the load for precise positioning with its high resolution incorporating with the PID (Proportional Integral Derivative) control algorithm. Since the stick-slip characteristics for the micro structures are highly nonlinear and complicated, it is necessary to incorporate more detailed stick-slip model for the applications involving the high precision motion control. Thus, the elastic-plastic static friction model is used for the stick-slip compensation considering the elastic-plastic asperity contact in the rough surfaces statistically. Mathematical model of the system for the positioning apparatus was derived from the dynamic behaviors of structural parts. Since the conventional piezoelectric actuator generates the short stroke, a bridge-type flexural hinge mechanism is introduced to amplify the linear motion range. Using the proposed smart structure, simulations under the representative positioning motion were conducted to demonstrate the micro-positioning under the stick-slip friction.

scholarly journals Time Delay and Feedback Control of an Inverted Pendulum With Stick Slip Friction

2007 ◽  
Author(s):  
Sue Ann Campbell ◽  
Stephanie Crawford ◽  
Kirsten Morris
Keyword(s):  
Time Delay ◽  
Basin Of Attraction ◽  
Critical Time ◽  
Viscous Friction ◽  
Experimental System ◽  
Friction Model ◽  
Stable Equilibrium Point ◽  
Feedback Controllers ◽  
Stick Slip ◽  
The Basin Of Attraction

We consider an experimental system consisting of a pendulum, which is free to rotate 360 degrees, attached to a cart which can move in one dimension. There is stick slip friction between the cart and the track on which it moves. Using two different models for this friction we design feedback controllers to stabilize the pendulum in the upright position. We show that controllers based on either friction model give better performance than one based on a simple viscous friction model. We then study the effect of time delay in this controller, by calculating the critical time delay where the system loses stability and comparing the calculated value with experimental data. Both models lead to controllers with similar robustness with respect to delay. Using numerical simulations, we show that the effective critical time delay of the experiment is much less than the calculated theoretical value because the basin of attraction of the stable equilibrium point is very small.

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