Optimizing Karnopp friction model parameters of a pendulum using RSM

Bicakcı, Sabri; Akdaş, Davut; Karaoğlan, Aslan Deniz

doi:10.1016/j.ejcon.2014.04.001

Cited by 11 publications

(5 citation statements)

References 21 publications

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“…The calculated friction torque is subsequently used in the model of dry friction in the bogies-car body connection. From the available friction models described in the literature [1][2][3][4][7][8][9][10][11]14], three groups of models were selected on the basis of the representation of popular friction models used in rail vehicle simulation. The first model represents the static smooth Coulomb approach, the second model is related to the dynamic non-smooth rheological approach, and the third one is based on the static non-smooth Coulomb approach with a defined region of stiction.…”

Section: Description Of Modelsmentioning

confidence: 99%

“…a = 250 and a = 2500. The Karnopp model [9,10] can better represent stiction behaviour and theoretically is convenient from a computational point of view. It is a partially velocity-based model with an additional dead band introduced where the velocity is considered null due to assumed stiction.…”

Section: Description Of Modelsmentioning

confidence: 99%

“…The model of contact is based on Kalker's simplified theory and the FASTSIM algorithm. In order to calculate tangential contact forces the algorithm requires such input data as normal contact forces, coefficient of friction (assumed equal to 0.4 on the basis of EN14363:2016 requirements described in the annex B and annex T), length of the semi-axes of the contact ellipses (calculated using Hertz theory), and creep values which are given in the form of relative rigid slip (10): ⎡ ⎣ rs x rs y rs z…”

Section: Description Of Modelsmentioning

confidence: 99%

See 2 more Smart Citations

Evaluation of bogie centre bowl friction models in the context of safety against derailment simulation predictions

Opala

2018

Arch Appl Mech

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This paper investigates the influence of the models of dry friction suspension component used in the numerical simulation of freight car dynamics on the possible predictions related to safety against derailment. Moreover, the performance of the models is compared on the basis of simulation runtime. Three groups of static and dynamic models of friction are selected as three different approaches which are often utilized in popular multibody simulation tools. The models are used for the centre bowl friction joint between the car body and bogies. The friction torque in the centre bowl affects the rotational resistance of the bogie in motion relative to the car body and consequently influences the interaction forces between the wheels and rails. Simulation results of safety against derailment index obtained from the vehicle curving scenario suggest noticeable differences in predictions of the selected models of friction.

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Section: Description Of Modelsmentioning

confidence: 99%

Section: Description Of Modelsmentioning

confidence: 99%

Section: Description Of Modelsmentioning

confidence: 99%

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Evaluation of bogie centre bowl friction models in the context of safety against derailment simulation predictions

Opala

2018

Arch Appl Mech

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“…The parameters representing the dry and viscous frictions in the joints are one of the most difficult parameters to identify [8], [14]- [20]. Other works dealing with passive identification include [21] where the Karnopp friction model is selected to describe joint friction moments in a pendulum link. Response surface methodology was used to fit the Karnopp model parameters to experimental data of the single degree of freedom pendulum in the study.…”

Section: Introductionmentioning

confidence: 99%

Identifying Friction in a Nonlinear Chaotic System Using a Universal Adaptive Stabilizer

2022

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This paper proposes a friction model parameter identification routine that can work with highly nonlinear and chaotic systems. The chosen system for this study is a passively-actuated tilted Furuta pendulum, which is known to have a highly nonlinear and coupled model. The pendulum is tilted to ensure the existence of a stable equilibrium configuration for all its degrees of freedom, and the link weights are the only external forces applied to the system. A nonlinear analytical model of the pendulum is derived, and a continuous friction model considering static friction, dynamic friction, viscous friction, and the stribeck effect is selected from the literature. A high-gain Universal Adaptive Stabilizer (UAS) observer is designed to identify friction model parameters using joint angle measurements. The methodology is tested in simulation and validated on an experimental setup. Despite the high nonlinearity of the system, the methodology is proven to converge to the exact parameter values, in simulation, and to yield qualitative parameter magnitudes in experiments where the goodness of fit was around 85% on average. The discrepancy between the simulation and the experimental results is attributed to the limitations of the friction model. The main advantage of the proposed method is the significant reduction in computational needs and the time required relative to conventional optimization-based identification routines. The proposed approach yielded more than 99% reduction in the estimation time while being considerably more accurate than the optimization approach in every test performed. One more advantage is that the approach can be easily adapted to fit other models to experimental data.

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“…Generally speaking, the static models, such as the Stribeck curve [23], Karnopp model [24], Armstrong’ model [25], are easy to be applied in engineering because of their simple structure. The disadvantage of the static model is that it does not take position‐dependent effects.…”

Section: Introductionmentioning

confidence: 99%

Identification and control of the motor‐drive servo turntable with the switched friction model

Zhang

Wang²,

Ninghao

2020

IET Electric Power Applications

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In this study, the identification and control scheme of the motor-drive servo turntable are researched to achieve accurate tracking. Firstly, the input-output identification experiments are designed and realised for the global model of motordrive servo turntable. The order of the global controlled auto-regressive model is determined by the Akaike information criterion, and the parameters are estimated by a particle swarm optimisation-cuckoo search algorithm. Secondly, the switched friction model is built combining the LuGre structure and the Stribeck curve. The switching conditions and the parameters of the switched friction model are determined though the input-output and the friction experiments. A constrained multi-objective optimisation problem is constructed for the parameter identification of the switched friction model. It is solved via a fuzzy comprehensive evaluation. Finally, the composite control strategy, in which the proportional-integral-derivative controller and model-based friction observer are combined, is proposed in the azimuth angle system of the motor-drive servo turntable. The trajectory tracking results in simulation and experiment illustrate the effectiveness of the proposed switched model, identification method, and composite control strategy.

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Optimizing Karnopp friction model parameters of a pendulum using RSM

Cited by 11 publications

References 21 publications

Evaluation of bogie centre bowl friction models in the context of safety against derailment simulation predictions

Evaluation of bogie centre bowl friction models in the context of safety against derailment simulation predictions

Identifying Friction in a Nonlinear Chaotic System Using a Universal Adaptive Stabilizer

Identification and control of the motor‐drive servo turntable with the switched friction model

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