Single state elastoplastic friction models

Abstract

For control applications involving small displacements and velocities, friction modeling and compensation can be very important. In particular, the modeling of presliding displacement (motion prior to fully developed slip) can play a pivotal role. In this note, it is shown that existing single-state friction models exhibit a nonphysical drift phenomenon which results from modeling presliding as a combination of elastic and plastic displacement. A new class of single state models is defined in which presliding is elastoplastic: under loading, frictional displacement is first purely elastic and then transitions to plastic. The new model class is demonstrated to substantially reduce drift while preserving the favorable properties of existing models (e.g., dissipativity) and to provide a comparable match to experimental data.

Improvements of Piezo-Actuated Stick–Slip Micro-Drives: Modeling and Driving Waveform

“…Simulations of three periods were performed with a preload of 0.4 N, a radius of the hemispheres of 1 mm, an actuation amplitude of 202 nm and a driving frequency of 100 Hz. Parameters for the optimized waveform were calculated from Equation (15). As seen in this figure, the step size of the runner, when the optimized waveform was used, was significantly larger than that of the standard saw-tooth waveform.…”

“…The presliding is simply stated as "contact deformation". Peng and Chen [8] exploited the elastoplastic model (EPM) [15], an extension of the LuGre model, for their investigations. Because the EPM takes the elastic property into account, it allows one to predict the presliding, but it is only qualitative.…”

Development and characterization of a novel piezoelectric-driven stick-slip actuator with anisotropic-friction surfaces

“…The displacement of presliding friction usually extends less than a few micrometers. In this regime, characteristics of the friction differ from the one in other friction regimes [Dupont et al, 2002]. …”

Friction Compensation for Enhancing Transparency of a Teleoperator With Compliant Transmission

“…A Dahl-based friction compensator [14] has been recently used for compensating friction in tendon-driven joints [11], [15], [16] and tendon-sheath transmission systems [17] to prevent oscillations. However, the Dahl friction model exhibits plastic behavior in presliding motion [18], which makes it difficult to guarantee the passivity of the joint [16]. In this work, we use single-state elastic friction models to compensate the friction in a tendon-driven joint and provide conditions for selecting compensator parameters to ensure passivity of the joint.…”

“…In this work, we use single-state elastic friction models to compensate the friction in a tendon-driven joint and provide conditions for selecting compensator parameters to ensure passivity of the joint. Single-state elastic models are more applicable than dynamic friction models [18] for friction compensation of tendon-driven manipulators where transmissions are considerably more compliant than asperities at the joint surfaces [16].…”