FRF based identification of dynamic friction using two-state friction model with elasto-plasticity

Identification of dynamic friction is precursory to the friction compensation in the motion control systems. This paper discusses and proves experimentally the FRF based identification of dynamic friction described by means of the recently developed two-state friction model with elasto-plasticity. The frequency-domain friction characteristics are analyzed using a quite simple excitation which however discloses both, the presliding and sliding regimes. Most importantly, the proposed friction identification, which is nowadays rarely performed in frequency-domain, offers an adequate model accuracy validated in time-domain on the unseen velocity response data.