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Research Papers

Comparison of Four Friction Models: Feature Prediction

[+] Author and Article Information
Yun-Hsiang Sun

Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: suny3411@myumanitoba.ca

Tao Chen

Department of Electrical
and Computer Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: taoc@myumanitoba.ca

Christine Qiong Wu

Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: Christine.Wu@umanitoba.ca

Cyrus Shafai

Department of Electrical
and Computer Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: Cyrus.Shafai@umanitoba.ca

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received March 17, 2015; final manuscript received October 5, 2015; published online October 23, 2015. Assoc. Editor: Ahmet S. Yigit.

J. Comput. Nonlinear Dynam 11(3), 031009 (Oct 23, 2015) (10 pages) Paper No: CND-15-1067; doi: 10.1115/1.4031768 History: Received March 17, 2015; Revised October 05, 2015

In this paper, we provide not only key knowledge for friction model selection among candidate models but also experimental friction features compared with numerical predictions reproduced by the candidate models. A motor-driven one-dimensional sliding block has been designed and fabricated in our lab to carry out a wide range of control tasks for the friction feature demonstrations and the parameter identifications of the candidate models. Besides the well-known static features such as break-away force and viscous friction, our setup experimentally demonstrates subtle dynamic features that characterize the physical behavior. The candidate models coupled with correct parameters experimentally obtained from our setup are taken to simulate the features of interest. The first part of this work briefly introduces the candidate friction models, the friction features of interest, and our experimental approach. The second part of this work is dedicated to the comparisons between the experimental features and the numerical model predictions. The discrepancies between the experimental features and the numerical model predictions help researchers to judge the accuracy of the models. The relation between the candidate model structures and their numerical friction feature predictions is investigated and discussed. A table that summarizes how to select the most optimal friction model among a variety of engineering applications is presented at the end of this paper. Such comprehensive comparisons have not been reported in previous literature.

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Topics: Friction
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Figures

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Fig. 1

Friction hysteresis cycle. xe is the displacement where the break-away force Fs is experienced. Friction converges to Coulomb friction Fc for relative displacement greater than xp. xp is the displacement which makes the |F(xp)−Fc|/Fc equal to 5% of Fc2 [21].

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Fig. 2

(a) Contact area between two solid bodies is thought of as a contact between bristles. (b) The average deflection of the bristles between the contact area is represented by a single bristle with the average deflection z. Using the spring and damper is essential to avoid oscillations in the average deflection.

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Fig. 3

True contact surfaces shown in microscale. The physical properties of the involved asperities give rise to the friction within this regime.

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Fig. 4

Break-away force versus force loading rate. The curve becomes steeper as the force rate moves toward left.

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Fig. 5

The loop observed on the friction–velocity map shows a multivalue behavior

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Fig. 6

Photo of the sliding table

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Fig. 7

(a) Installation of two conducting plates. (b) Left: schematic and notations for a parallel-plate capacitor. Right: two square conducting plates with a square overlap area are used to form the capacitor.

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Fig. 8

Desired input force trajectory used to produced presliding

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Fig. 9

Static friction–velocity map together with break-away force reproduced by the selected models: (a) Stribeck curve together with the predictions of the break-away force reproduced by the classical, B.S., and LuGre model, (b) zoom in to area 1, and (c) zoom in to area 2

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Fig. 10

Viscous friction behavior under static velocity profiles: (a) steady-state characteristics of the friction (positive velocity), (b) steady-state characteristics of the friction (negative velocity), and (c) the mean values (circles) and two standard deviations (error bars) of the steady-state measurements together with viscous friction reproduced by the selected models

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Fig. 11

Unsteady-state characteristics of the friction (unidirectional velocity variation, slide sinusoidally within 0.5–2.5 mm/s, frequency = 0.48 Hz, two successive cycles of velocity variation are plotted for this particular condition)

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Fig. 12

Relation between the break-away force and the force rate

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Fig. 13

Presliding measurements along with model predictions (ramp slope = 0.25 N/s): (a) input force profile, (b) presliding together with the predictions of the classical and the LuGre model, (c) presliding together with the prediction of the B.S. model, and (d) presliding together with the prediction of the Dahl model

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Fig. 14

Presliding response of the Dahl model due to instantaneous change in the input force

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