An integrated friction model structure with improved presliding behavior for accurate friction compensation

Abstract

This paper presents a new dynamical friction model structure which allows accurate modeling both in the sliding and the presliding regimes. Transition between these two regimes is accomplished without a switching function. The model incorporates a hysteresis function with nonlocal memory and arbitrary transition curves. These last aspects prove essential for modeling presliding friction that is encountered in real physical situations. The model as a whole can also handle the Stribeck effect and stick-slip behavior as has been demonstrated by validation on a KUKA IR 361 robot. In this sense, this model can be considered as more complete in comparison with others found in the literature. The general friction model allows modeling of individual friction systems through the identification of a set of parameters that determine the complete behavior of the system. In this way, the model structure has been used to identify the friction behavior of a linear slide as well as that of the above mentioned KUKA robot. The results of the latter identification have been consequently used for feedforward friction compensation to obtain the most accurate tracking.

A review of friction models in interacting joints for durability design

“…However, LuGre model does not account for hysteresis behaviour. Swevers et al [72] model includes Stribeck friction in sliding, hysteretic behaviour in pre-sliding, frictional lag, varying breakaway and stick-slip behaviour, supported by experiments but does not account for material characteristics and the effect of loads on material variations. The Bliman Sorin model presented in Eq.…”

“…Both Dahl and LuGre model are rate dependent because of which they cannot capture the reversal point memory. Swevers et al [72] uses the LuGre model which performs satisfactorily for constant sliding velocity and suggests modification to it. In LuGre model the parameter z can be interpreted as the average bristle deflection.…”

“…However, friction is defined as the tangential reaction force that occurs between two surfaces in contact, dependent on factors that include the contact geometry, the topology, relative velocity of surfaces in contact and displacement of surfaces, load and lubrication [23,[68][69][70][71]. Friction is a complex phenomenon caused by the interaction of the surface and near surface regions of two interacting components as well as lubricants if present between such surfaces [72]. However, the classical friction model does little more than to give an approximation of friction forces in static analyses.…”

Modeling of static friction in closed-loop kinematic chains—Uniqueness and parametric sensitivity problems

“…It is representative for a group of models with auxiliary "internal dynamics" state variable that describes the micro-slip during the stiction phase [12]. Apart from the LuGre model, this approach is adopted, for example, in Dankowicz [8,13], Dahl [14], and Leuven [15,16] friction models. In these models, both stiction and sliding regimes are unified and governed by the same equations.…”

A high-accuracy trajectory following controller for pneumatic devices

“…The control engineer is usually faced with a difficult tradeoff: how to balance the simplicity required to synthesize the control law while maintaining the complexity necessary for a realistic friction description. Several studies in literature can be found, ranging from the simple, static, Karnopp friction model [7], to the more complex, dynamic, Lugre model [8] and its evolutions [9].…”