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Technical Briefs

Glitchless Static Friction Models in SIMULINK for Vehicle Simulation Study

[+] Author and Article Information
Xubin Song

Eaton Innovation Center, Eaton Corporation, 26201 Northwestern Highway, Southfield, MI 48076xubinsong@eaton.com

Daniel G. Smedley

Eaton Innovation Center, Eaton Corporation, 26201 Northwestern Highway, Southfield, MI 48076d.smedley@hotmail.com

J. Comput. Nonlinear Dynam 5(1), 014502 (Nov 24, 2009) (7 pages) doi:10.1115/1.4000321 History: Received October 13, 2008; Revised January 14, 2009; Published November 24, 2009; Online November 24, 2009

The history of the challenge of friction modeling is briefly reviewed. Then, this paper focuses on the modeling and simulation study of the friction related dynamics in the SIMULINK ® environment, because MATLAB ® /SIMULINK ® are popular engineering software tools for both industry and academia. MATLAB ® and SIMULINK ® are the proprietary products of MathWorks, Inc. (Natick, MA). In this paper, the static friction models are studied through SIMULINK ® by applying fixed and variable step sizes. The comparison shows that the static Karnopp model is not only numerically tractable but also can be inclusive of the fundamental friction characteristics of both stick-slip and correct friction predictions. Finally, this paper presents an improved Karnopp model for clutch modeling with the use of SIMULINK ® , and the simulation shows that this model is computationally tractable with smooth dynamics.

Copyright © 2010 by American Society of Mechanical Engineers
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References

Figures

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Figure 6

Simulation graphic results with fixed step size of 1 ms: details of (a) Coulomb viscous friction force, (b) smooth Coulomb viscous friction force, and (c) Karnopp friction force

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Figure 7

CPU time (a) for fixed step simulation and (b) for variable step simulation

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Figure 8

Lumped-parameter clutch model

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Figure 9

Clutch model from MathWorks, Inc.

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Figure 10

Unlocked clutch dynamic model

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Figure 11

Simulation case one: engine torque versus clutch force

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Figure 12

Simulation case two: engine torque versus clutch force

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Figure 13

Results of clutch model example with simulation case one

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Figure 14

Results of clutch model example with simulation case two

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Figure 15

Improved Karnopp clutch model in SIMULINK ®

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Figure 16

Clutch block for improved Karnopp model

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Figure 5

External force Fe for simulation study

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Figure 4

SIMULINK ® diagram for Karnopp model

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Figure 3

SIMULINK ® diagram for smooth Coulomb viscous model

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Figure 2

SIMULINK ® diagram for Coulomb viscous model

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Figure 1

Friction dynamics on a fixed surface

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Figure 17

Friction block for improved Karnopp model

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Figure 18

Modified model block for improved Karnopp model

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Figure 19

Results of improved Karnopp clutch model with simulation case one

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Figure 20

Results of improved Karnopp clutch model with simulation case two

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