Elasto-plastic friction model: contact compliance and stiction

Dupont, Pierre E.; Armstrong, B.; Hayward, Vincent

doi:10.1109/acc.2000.876665

Cited by 111 publications

(99 citation statements)

References 9 publications

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“…The pioneering research on dynamic friction model for different materials was conducted by Dahl [15] and therefore the Dahl model became one of the earliest dynamic friction models. Thereafter, dynamic models, such as Dupont model [16,17], LuGre model [18], Leuven model [19], and GMS model [20], were derived from the Dahl model. These models used the Dahl model's properties to describe preparatory displacement-slip friction and to predict friction hysteresis.…”

Section: Introductionmentioning

confidence: 99%

Effect of Axial Vibration on Sliding Frictional Force between Shale and 45 Steel

Hao

Chen

Liu

et al. 2018

Shock and Vibration

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Activating drill string vibration is an effective means to mitigate the excessive drag encountered during drilling complexstructure wells. However, the Coulomb model cannot describe the sliding friction behavior between drill string and borehole rock with imposed axial vibrations. To solve this problem, a specially designed experimental setup was utilized to investigate the characteristics of axial vibrating-sliding coupling friction. The results indicate that when vibration velocity is greater than sliding velocity, axial vibration can significantly reduce friction force between contact surfaces. Its friction reduction mechanism embodies not only the changes of instantaneous friction force, but also friction coefficient. Meanwhile, a friction coupling model was established based on the Hertz contact theory and Dahl model. The corresponding computational program was developed in Matlab/Simulink environment. The calculation results are in good agreement with the experimental results, verifying the validity of the present method. Furthermore, to overcome the shortcoming of Dahl model, a dynamic friction coefficient model was proposed to evaluate the friction-reducing effect of axial vibration using dimensional analysis method. The model parameters under different lubrication conditions were retrieved through inverse calculation with experimental data. This method provides a new solution for evaluating the friction-reducing effect of hydraulic oscillator and optimizing its placement.

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Section: Introductionmentioning

confidence: 99%

Effect of Axial Vibration on Sliding Frictional Force between Shale and 45 Steel

Hao

Chen

Liu

et al. 2018

Shock and Vibration

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“…From Figs. 19 and 20, it can be seen that the friction force is not -Measure (1): the parameters reported in Dupont et al (2000) for the elastoplastic model were used as initial values in identification. However, the identification results (not shown in this paper) show that the displacement predicted by the model cannot fit the experimental data.…”

Section: Results Of Lugre Modelmentioning

confidence: 99%

“…the relative displacement is elastic (reversible) first and then it transits to the plastic (irreversible) stage. The model of Dupont et al (2000) is thus called elastoplastic friction model.…”

Section: Overview Of the Friction Modelsmentioning

confidence: 99%

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Experimental comparison of five friction models on the same test-bed of the micro stick-slip motion system

et al. 2015

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Abstract. The micro stick-slip motion systems, such as piezoelectric stick-slip actuators (PE-SSAs), can provide high resolution motions yet with a long motion range. In these systems, friction force plays an active role. Although numerous friction models have been developed for the control of micro motion systems, behaviors of these models in micro stick-slip motion systems are not well understood. This study (1) gives a survey of the basic friction models and (2) tests and compares 5 friction models in the literature, including Coulomb friction model, Stribeck friction model, Dahl model, LuGre model, and the elastoplastic friction model on the same testbed (i.e. the PE-SSA system). The experiments and simulations were done and the reasons for the difference in the performance of these models were investigated. The study concluded that for the micro stick-slip motion system, (1) Stribeck model, Dahl model and LuGre model all work, but LuGre model has the best accuracy and (2) Coulomb friction model and the elastoplastic model does not work. The study provides contributions to motion control systems with friction, especially for micro stick-slip or step motion systems as well as general micro-motion systems.

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“…By modelling the actual contact interfaces friction models get complicated. Such models are often used in feed forward friction compensation of robots [9,[17][18][19] assuming continuous time control. Still how the friction effects influence the stability of digital position control is not well understood, and left without discussion in the specialist literature.…”

Section: Introductionmentioning

confidence: 99%

Friction Effects on Stability of a Digitally Controlled Pendulum

Budai¹,

Kovâcs²

2015

Period. Polytech. Mech. Eng.

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IntroductionPositioning is a basic task in robotics, where the applied controller aims to drive the robot into a desired position. Industrial robotic applications often demand for high accuracy, strict repeatability and at the same time, fast operation. Modern robots are equipped with digital motion controllers. The performance of these with respect to the above requirements are limited by the sampled data nature 1 of the applied digital control. For example, the positioning accuracy of a PD controller can be improved by the proportional control gain [1], but at the same time the system becomes less robust to parameter variations and might get unstable for large gain values [2]. The effect of sampling have been investigated in the literature in detail [2-6].Reference [2] introduces tools and design methods for digitally controlled robots, [3][4][5] focus on the analytical investigation of the dynamics of digital force control and [6] presents also experiments that show how sampling and quantization can cause performance limitations. In these studies the effect of Coulomb friction is considered as a stabilizing effect and it is neglected. This provides sufficffient conservativism in many cases in the control design, but cannot be applied when dry friction is the dominant or the only source of physical dissipation.It is possible to derive an equivalent viscous damping to represent Coulomb friction by using the method of describing function analysis [7,8]. To simplify the analysis and reduce computational costs, it is usual to model the dissipative forces due to the actuators, the motion transmission elements and bearings as viscous damping [9]. Structural damping is often considered in the form of modal damping. This type of viscous damping often captures well the combined effect of different dissipation mechanisms, and as it will be shown later in the paper, it can also be successfully applied to model friction effects in digitally controlled systems. However, in certain parameter ranges viscous damping alone cannot explain the experimentally observed decaying of vibrations.

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Elasto-plastic friction model: contact compliance and stiction

Cited by 111 publications

References 9 publications

Effect of Axial Vibration on Sliding Frictional Force between Shale and 45 Steel

Effect of Axial Vibration on Sliding Frictional Force between Shale and 45 Steel

Experimental comparison of five friction models on the same test-bed of the micro stick-slip motion system

Friction Effects on Stability of a Digitally Controlled Pendulum

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