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Single state elastoplastic friction models
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DOI：10.1109/TAC.2002.1000274.png)
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摘要
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For control applications involving small displacements and velocities, friction modeling and compensation can be very important. In particular, the modeling of presliding displacement (motion prior to fully developed slip) can play a pivotal role. In this note, it is shown that existing single-state friction models exhibit a nonphysical drift phenomenon which results from modeling presliding as a combination of elastic and plastic displacement. A new class of single state models is defined in which presliding is elastoplastic: under loading, frictional displacement is first purely elastic and then transitions to plastic. The new model class is demonstrated to substantially reduce drift while preserving the favorable properties of existing models (e.g., dissipativity) and to provide a comparable match to experimental data.
Keyword:
friction compensation
friction modeling
mechanical systems
presliding
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期刊
IF:
7
论文数:
1.3W
被引数:
6.7W
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An integrated friction model structure with improved presliding behavior for accurate friction compensation具有改进的预摩擦行为的集成摩擦模型结构，可实现精确的摩擦补偿
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