Experimental comparison of five friction models on the same test-bed of the micro stick-slip motion system
The micro stick-slip motion systems, such as piezoelectric stick-slip actuators (PE-SSAs), can provide high resolution motions yet with a long motion range. In these systems, friction force plays an active role. Although numerous friction models have been developed for the control of micro motion sy...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2015-03-01
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| Series: | Mechanical Sciences |
| Online Access: | http://www.mech-sci.net/6/15/2015/ms-6-15-2015.pdf |
| Summary: | The micro stick-slip motion systems, such as piezoelectric stick-slip
actuators (PE-SSAs), can provide high resolution motions yet with a long
motion range. In these systems, friction force plays an active role.
Although numerous friction models have been developed for the control of
micro motion systems, behaviors of these models in micro stick-slip motion
systems are not well understood. This study (1) gives a survey of the basic
friction models and (2) tests and compares 5 friction models in the
literature, including Coulomb friction model, Stribeck friction model, Dahl
model, LuGre model, and the elastoplastic friction model on the same
test-bed (i.e. the PE-SSA system). The experiments and simulations were
done and the reasons for the difference in the performance of these models
were investigated. The study concluded that for the micro stick-slip motion
system, (1) Stribeck model, Dahl model and LuGre model all work, but LuGre
model has the best accuracy and (2) Coulomb friction model and the
elastoplastic model does not work. The study provides contributions to
motion control systems with friction, especially for micro stick-slip or
step motion systems as well as general micro-motion systems. |
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| ISSN: | 2191-9151 2191-916X |