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Model-Based Friction Compensation
2004Compensation of nonlinear friction terms is a most challenging application of high resolution encoders, which are nowadays getting available for common industrial motion control and robotic applications. In fact, use of a high resolution sensor allows a neat analysis of the dynamic behavior of friction forces in the presliding regime, and especially of
FERRETTI, GIANNI +2 more
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Friction compensation without a friction model
2012 American Control Conference (ACC), 2012This paper presents the design of a position control system for plants that have nonlinear friction. The approach uses nested integral tracking loops: an inner velocity loop and an outer position loop. An additional component of the proposed approach is the nonstandard use of an observer, or reduced-order observer, in the inner loop to estimate the ...
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A NEW DYNAMICAL FRICTION MODEL
International Journal of Modern Physics B, 2008This paper proposed a new dynamical friction model structure which allows accurate modeling both in sliding and presliding regimes. Transition between these two regimes is accomplished without a switching function. In the presliding regime, the model has the characters of a Bouc–Wen model, so it can adapt to various hysteretic behaviors.
Guo, Kejian +4 more
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ON FRICTION COMPENSATION WITHOUT FRICTION MODEL
IFAC Proceedings Volumes, 2002Abstract This paper presents a new methodology for friction compensation that is not based on any friction model. This is done by using finite-terms Fourier series to approximate the friction term. Updating laws for the coefficients of the series are easily derived from a Lyapunov approach to guarantee asymptotic convergence of the tracking error ...
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Adaptive Friction Compensation with Dynamic Friction Model
IFAC Proceedings Volumes, 1996Abstract This paper illustrates the application of model-based adaptive friction compensation schemes on a DC motor servomechanism. A dynamic friction model and the control structure previously studied were used as a basis for this study. Two adaptive globally stable mechanisms are introduced to deal with structured normal forces and temperature ...
C. Canudas-de-Wit, P. Lischinsky
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SAE Technical Paper Series, 1992
<div class="htmlview paragraph">This paper describes the results of using the Southwest Research Institute (SwRI) engine friction model to examine the effects of changing certain design parameters on the friction of a gasoline engine. The paper gives the results of an examination of the effects of changing the main and cam-shaft bearing aspect ...
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<div class="htmlview paragraph">This paper describes the results of using the Southwest Research Institute (SwRI) engine friction model to examine the effects of changing certain design parameters on the friction of a gasoline engine. The paper gives the results of an examination of the effects of changing the main and cam-shaft bearing aspect ...
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Annual Review of Economics, 2011
This article reviews the developments in frictional matching models from 1990 to 2010, exploring how search frictions skew the matches that occur. This research succeeded by exploiting new tools from monotone methods under uncertainty. Seeing how this journey plays out is instructive in itself for economic theory.
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This article reviews the developments in frictional matching models from 1990 to 2010, exploring how search frictions skew the matches that occur. This research succeeded by exploiting new tools from monotone methods under uncertainty. Seeing how this journey plays out is instructive in itself for economic theory.
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Physical Review B, 1994
The basis of dry friction is discussed using an independent oscillator model with longitudinal motion. This sample system is treated both numerically and with analytical methods. At vanishing velocity a sliding dry friction force is calculated which is smaller than the pinning force.
, Helman, , Baltensperger, , Holyst
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The basis of dry friction is discussed using an independent oscillator model with longitudinal motion. This sample system is treated both numerically and with analytical methods. At vanishing velocity a sliding dry friction force is calculated which is smaller than the pinning force.
, Helman, , Baltensperger, , Holyst
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Simple model for granular friction
Physical Review E, 1999We propose a simple phenomenological model to describe the motion of a plate on granular layers pushed at a constant speed. The model contains the order parameter characterizing the transition from a solidlike state to a liquidlike state. The model reproduces the hysteresis in frictional force and the universal profile of the slip velocity, which are ...
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Friction model for the velocity dependence of nanoscale friction
Nanotechnology, 2005The velocity dependence of nanoscale friction is studied for the first time over a wide range of velocities between 1 microm s(-1) and 10 mm s(-1) on large scan lengths of 2 and 25 microm. High sliding velocities are achieved by modifying an existing commercial atomic force microscope (AFM) setup with a custom calibrated nanopositioning piezo stage ...
Nikhil S, Tambe, Bharat, Bhushan
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