Stick slip and control in low-speed motion

Armstrong-Hélouvry, Brian

doi:10.1109/9.241562

Cited by 150 publications

(54 citation statements)

References 25 publications

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“…The relationship between the coefficient of friction and the relative velocity has been studied extensively by Armstrong-Hélouvry [7,8]. Heap [9] considers the coefficient of static friction only as a function of pressure, while the coefficient of kinetic friction is considered as a function of pressure and velocity.…”

Section: Introductionmentioning

confidence: 99%

The influence of the interface coefficient of friction upon the propensity to judder in automotive clutches

Centea

Rahnejat

Menday

1999

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper presents an investigation of the driveline torsional vibration behaviour, referred to as judder, which takes place during the clutch engagement process, particularly on small trucks with diesel engines. A non-linear multibody dynamic model of the clutch mechanism is employed to study the effect of various clutch system and driveline components on the clutch actuation performance. The paper demonstrates that judder is affected by driveline inertial changes, variation in the coefficient of friction, v, of the friction disc linings with slip speed, 6, and the loss of clamp load. The results of the simulations show that various friction materials with different v-6 characteristics produce torsional self-excited vibrations of the driveline. The results also show that loss of clamp load relating to the speed of clutch actuation also contributes to judder. Furthermore, it is shown that the simulation results conform closely to the experimental findings.

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Section: Introductionmentioning

confidence: 99%

The influence of the interface coefficient of friction upon the propensity to judder in automotive clutches

Centea

Rahnejat

Menday

1999

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Armstrong also established experimental procedures to stabilize the performance of the controller at low velocities. In [4], Armstrong applied dimensional and perturbation analysis to solve a nonlinear low-velocity friction control problem. Specifically, a simple PD controller was implemented after reducing the parameters representing the friction model from ten to five via a dimensional analysis.…”

Section: Introductionmentioning

confidence: 99%

Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension

Feemster¹,

Dawson²,

Behal³

et al. 1999

Asian Journal of Control

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In this paper, we extend the observer/control strategies previously published in [25] to an n-link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the LuGre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

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“…It has been realized in the 1970s that friction plays significant role in determining the characteristics of hydraulic devices [1]. The early attempts to model friction applied static models [2], [3], [4], [5]. The road-tire interaction (that plays crucial role in braking and driving vehicles) can be regarded as a particular problem class that has been addressed by significant research effort [6].…”

Section: Introductionmentioning

confidence: 99%

Novel design of a Model Reference Adaptive Controller for soft tissue operations

Tar

Kovács

Takács

et al. 2014

2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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Abstract-Model Reference Adaptive Controllers (MRAC) have dual functionality: besides guaranteeing precise trajectory tracking of the controlled system, they have to provide an "external control loop" with the illusion that it controls a physical system of prescribed dynamic properties, i.e., the "reference system". The MRACs are designed traditionally by Lyapunov's 2 nd method that is mathematically complicated, requiring strong skills from the designer. Adaptive controllers alternatively designed by the use of Robust Fixed Point Transformations (RFPT) operate according to Banach's Fixed Point Theorem, and are normally simple iterative constructions that also have a standard variant for MRAC design. This controller assumes a single actuator that is driven adaptively. Master-Slave Systems form a distinct class of practical applications, in which two arms-the master and the slave-operate simultaneously. The movement of the master must be tracked precisely by the slave in spite of the quite different forces exerted by them. In the present paper, a soft tissue-cutting operation by a master-slave structure is simulated. The master arm has a simple torque-reference friction model, and is driven by the surgeon. The obtained master arm trajectory has to be precisely tracked by the electric DC motor driven slave system, which is in dynamic interaction with the actual tissue under operation. It is shown via simulations that the RFPT-based design can efficiently solve such tasks without considerable mathematical complexity.

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Stick slip and control in low-speed motion

Cited by 150 publications

References 25 publications

The influence of the interface coefficient of friction upon the propensity to judder in automotive clutches

The influence of the interface coefficient of friction upon the propensity to judder in automotive clutches

Tracking Control in the Presence of Nonlinear Dynamic Frictional Effects: Robot Extension

Novel design of a Model Reference Adaptive Controller for soft tissue operations

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