A generalized Maxwell-slip friction model appropriate for control purposes

Lampaert, Vincent; Al‐Bender, Farid; Swevers, Jan

doi:10.1109/phycon.2003.1237071

Cited by 88 publications

(71 citation statements)

References 8 publications

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“…Then, at the end of the first cycle, the value of τ f 0,RM S is computed and the value of τ f,RM S is computed by means of (20). By also computing the value ofω by means of (21), the change of the temperature in the joint can be calculated by means of (19).…”

Section: Modelling Temperature Effectmentioning

confidence: 99%

Modelling the temperature in joint friction of industrial manipulators

Simoni¹,

Beschi²,

Legnani³

et al. 2017

Robotica

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In this paper, a new model for joint dynamic friction of industrial robot manipulators is presented. In particular, the effects of the temperature in the joints are considered. A polynomial-based model is proposed and the parameter estimation is performed without the need of a joint temperature sensor. The use of an observer is then proposed to compensate for the uncertainty in the initial estimation of the temperature value. A large experimental campaign show that the model, in spite of the simplifying assumptions made, is effective in estimating the joint temperature and therefore the friction torque during the robot operations, even for values of velocities that have not been previously employed.

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Section: Modelling Temperature Effectmentioning

confidence: 99%

Modelling the temperature in joint friction of industrial manipulators

Simoni¹,

Beschi²,

Legnani³

et al. 2017

Robotica

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show abstract

“…The literature (Lampaert, et al, 2003, Ruderman, et al, 2011 takes into account advantages and disadvantages of the elastic-plastic friction model and the Leuven friction model and proposes the GMS friction model. It can not only reflect the non-local memory hysteresis loops and the Stribeck phenomenon in the pre-sliding regime, but also avoid the same steady drift as the elastic-plastic model.…”

Section: Gms (Generalized Maxwell-slip) Friction Modelmentioning

confidence: 99%

“…Until now, a lot of research on friction modelling has been undertaken (Satoshi, et al,2008, Daniel, et al, 2009, Olsson, et al, 1998, Bonsignore, et al, 1999. Many experiments on friction show that there exist two friction regimes (Lampaert, et al, 2003): the pre-sliding regime and the sliding regime. In the pre-sliding regime the friction force appears to be a function of relative micro-displacement (elastic deformation and plastic deformation), and its characteristics are similar to a nonlinear spring.…”

Section: Introductionmentioning

confidence: 99%

Dynamic friction modelling without drift and its application in the simulation of a valve controlled hydraulic cylinder system

Yang

Plummer

2014

JAMDSM

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The frictional modelling literature is reviewed, and it is demonstrated that unrealistic drift results when the shape coefficient is 1.0 for the LuGre and the integral friction models. Drift will not occur but other dynamic friction characteristics can't be represented when the shape coefficient is 0. Based on the above, the LuGre friction model and the Integral friction model are improved. The velocity-friction characteristic, the stick-slip and the cycling caused by friction and the drift are compared in simulation. The results show that the improved friction model well reflects realistic friction dynamic characteristics and avoids drift. Finally, the improved friction model is used in a nonlinear mathematic model of a valve controlled hydraulic cylinder system. The cylinder's motion at low velocity is simulated and the related experimental results are presented. The results show that the improved friction model gives realistic low velocity motion of the cylinder.

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“…A GMS friction model is selected for analysis purpose due to its ability to compensate friction forces efficiently based on a physically motivated friction model [2]. Parameter identification of the GMS friction model is based on actual friction behavior of a system.…”

Section: Friction Characterisation and Modelingmentioning

confidence: 99%

Theoretical Analysis of Friction Compensation Using Sliding Mode Control

Rafan

Jamaludin

Tjahjowidodo

et al. 2012

AMM

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Abstract.Friction is an undesired nonlinear phenomenon that reduces position and tracking accuracy in machine tools application. This paper focuses on development of control technique to compensate friction force at motion reversal of a drive system that generates quadrant glitch phenomenon thus improving tracking accuracy. Sliding Mode Control (SMC) is designed to compensate friction. The Generalized Maxwell-Slip (GMS) friction model is applied for numerical analysis. The performance of the controller is analysed based on the reduction in the quadrant glitches magnitude. The performance of the SMC controller is compared with the classical PID controller. Results show that SMC controller yields the smallest quadrant glitch magnitudes.

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A generalized Maxwell-slip friction model appropriate for control purposes

Cited by 88 publications

References 8 publications

Modelling the temperature in joint friction of industrial manipulators

Modelling the temperature in joint friction of industrial manipulators

Dynamic friction modelling without drift and its application in the simulation of a valve controlled hydraulic cylinder system

Theoretical Analysis of Friction Compensation Using Sliding Mode Control

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