Single and multistate integral friction models

被引：69

作者：

Ferretti, G ^{[1
]}

Magnani, G ^{[1
]}

Rocco, P ^{[1
]}

机构：

[1] Politecn Milan, Dipartimento Elettron & Informat, I-20133 Milan, Italy

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2004年 / 49卷 / 12期

关键词：

friction; mechatronics; motion control; nonlinear systems;

D O I：

10.1109/TAC.2004.839234

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this note, a single state integral friction model is first proposed, defining separately the Dahl, Stribeck, and microviscous effects. The model is based on an integral closed form solution of the Dahl model. A multistate integral friction model; accounting for the hysteresis behaviour with non local memory, has been then derived, combining the Dahl and the Maxwell slip model. The accuracy of the model has been experimentally assessed in friction compensation, both in open and in closed velocity loop.

引用

页码：2292 / 2297

页数：6

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