The generalized Maxwell-slip model: A novel model for friction simulation and compensation

被引：384

作者：

Al-Bender, F ^{[1
]}

Lampaert, V ^{[1
]}

Swevers, J ^{[1
]}

机构：

[1] Katholieke Univ Leuven, Div Prod Engn Machine Design & Automat PMA, Dept Mech Engn, B-3001 Heverlee, Belgium

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2005年 / 50卷 / 11期

关键词：

friction modeling; friction compensation; mechanical systems; presliding regime; sliding regime;

D O I：

10.1109/TAC.2005.858676

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel, multistate friction model is presented, which is obtained from the Maxwell-slip model by replacing the usual Coulomb law at slip by a rate-state law. The form of the latter state equations is arrived at by comparison with a recently developed generic friction model as well as limiting behavior cases. The model is particularly suitable for quick simulation and control purposes, being both easy to implement and of high fidelity. This communication situates the model, by outlining its development background and structure, and highlights its basic characteristics.

引用

页码：1883 / 1887

页数：5

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