Friction model with elasto-plasticity for advanced control applications

Author

Ruderman, Michael ; Bertram, Torsten

Author_Institution

Inst. of Control Theor. & Syst. Eng., Tech. Univ. Dortmund, Dortmund, Germany

fYear

2010

fDate

6-9 July 2010

Firstpage

914

Lastpage

919

Abstract

A novel nonlinear friction model with elasto-plasticity is proposed. Being in accordance with state-of-the-art friction properties the model provides a compact set of concentrated parameters and offers a complexity reduction when describing the hysteretic and the transient response of dynamic friction. Considering the first-order dynamic system with friction, both the pre-sliding and the gross sliding regimes are analyzed and identified from experiments. Intended for control applications the proposed model is used in feed-forwarding in order to improve the tracking performance of a standard linear control, above all at frequently velocity reversals.

Keywords

elastoplasticity; feedforward; linear systems; mechatronics; nonlinear control systems; nonlinear dynamical systems; sliding friction; transient response; complexity reduction; elastoplasticity; feedforward; first order dynamic system; friction model; nonlinear friction model; sliding regime; Current measurement; Dynamics; Force; Friction; Hysteresis; Modeling; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME International Conference on

Conference_Location

Montreal, ON

Print_ISBN

978-1-4244-8031-9

Type

conf

DOI

10.1109/AIM.2010.5695765

Filename

5695765