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Comparison of two Friction Models

Gäfvert, Magnus (1996) In MSc Theses
Department of Automatic Control
Abstract
Friction modelling is a delicate problem which poses several challenges to control engineers. This work focuses on two recent models which describe friction with nonlinear dynamical systems: The Lugre model, and the model of Bliman & Sorine. Comparisons are made concerning friction phenomena captured, computational issues, identification of model parameters and behaviour at zero-crossings of the velocity. Properties are illustrated by simulations. New results on stability and passivity for the Lugre model are presented. Experiments are carried out to validate the models. Limit cycles are investigated by describing function analysis. The impact of a dynamic friction model on friction induced limit cycles is discussed. Both models give... (More)
Friction modelling is a delicate problem which poses several challenges to control engineers. This work focuses on two recent models which describe friction with nonlinear dynamical systems: The Lugre model, and the model of Bliman & Sorine. Comparisons are made concerning friction phenomena captured, computational issues, identification of model parameters and behaviour at zero-crossings of the velocity. Properties are illustrated by simulations. New results on stability and passivity for the Lugre model are presented. Experiments are carried out to validate the models. Limit cycles are investigated by describing function analysis. The impact of a dynamic friction model on friction induced limit cycles is discussed. Both models give reasonable results in describing function analysis, and it is concluded that dynamic models are superiour to static models when it comes to reproducing limit cycles. The Lugre model exhibits a richer behaviour in terms of friction phenomena. The Bliman & Sorine model could be problematic to use because of poor damping properties. The damping problems for the Bliman & Sorine model turns out to affect overall model behaviour in a complex way. This work was in part carried out at Laboratoire d'Automatique de Grenoble, CNRS-INPG-UJF, France. (Less)
Please use this url to cite or link to this publication:
author
Gäfvert, Magnus
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5561
ISSN
0280-5316
language
English
id
8848718
date added to LUP
2016-03-24 17:58:03
date last changed
2016-03-24 17:58:03
@misc{8848718,
  abstract     = {Friction modelling is a delicate problem which poses several challenges to control engineers. This work focuses on two recent models which describe friction with nonlinear dynamical systems: The Lugre model, and the model of Bliman & Sorine. Comparisons are made concerning friction phenomena captured, computational issues, identification of model parameters and behaviour at zero-crossings of the velocity. Properties are illustrated by simulations. New results on stability and passivity for the Lugre model are presented. Experiments are carried out to validate the models. Limit cycles are investigated by describing function analysis. The impact of a dynamic friction model on friction induced limit cycles is discussed. Both models give reasonable results in describing function analysis, and it is concluded that dynamic models are superiour to static models when it comes to reproducing limit cycles. The Lugre model exhibits a richer behaviour in terms of friction phenomena. The Bliman & Sorine model could be problematic to use because of poor damping properties. The damping problems for the Bliman & Sorine model turns out to affect overall model behaviour in a complex way. This work was in part carried out at Laboratoire d'Automatique de Grenoble, CNRS-INPG-UJF, France.},
  author       = {Gäfvert, Magnus},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Comparison of two Friction Models},
  year         = {1996},
}