Abstract In order to fulfill the requirement that electric linear load simulator needs improve loading accuracy by compensation method based on friction model in active situation with small load, considering influence of coulomb and maximum static friction, an improved LuGre is proposed. At same time, since effect highly nonlinear determined numerous parameters, differential evolution algorithm...

Friction exists in all machines having relative motion, and plays an important role in many servo mechanisms and simple pneumatic or hydraulic systems. In order to achieve high precision motion control, accurate friction modeling and effective compensation techniques have to be investigated. In this chapter, we shall present a systematic treatment of adaptive friction compensation techniques fr...

In this paper friction induced limit cycles are predicted for a simple motion system of a single motor-driven inertia subjected to friction and a PID-controlled regulator task. The two friction models used, i.e., (i) the dynamic LuGre friction model and (ii) the static Switch friction model, are compared with respect to the so-called hunting phenomenon. Analysis tools originating from the field...

Both the dynamic characteristics and structural nonlinearities of an actuator will affect flutter boundary a fin–actuator system. The models used in past research are not universal, accuracy is difficult to guarantee, consideration nonlinearity adequate. Based on modularization, high-fidelity modeling method for proposed this paper. This model considers both freeplay friction, which easy expand...

In this paper we derive a new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles. The model is based on a dynamic friction model developed previously for contact-point friction problems, called the LuGre model [7]. By assuming a contact patch between the tire and the ground we develop a partial differential equation for the distribution of the fr...

The problem of controlling a two link robotic manipulator, consisting of a rotating and a prismatic links, is addressed. The actuations of both links are assumed to have unknown dead zone nonlinearities and friction torques modeled by LuGre friction model. Because of the existence of the unknown dead zone and friction torque at the actuations, unknown parameters and unmeasured states would appe...

Friction has long been an important issue in multibody dynamics. Static friction models apply appropriate regularization techniques to convert the stick inequality and non-smooth stick–slip transition of Coulomb’s approach into a continuous smooth function sliding velocity. However, regularized force is not able maintain long-term stick. That why dynamic were developed recent decades. The depen...