Friction modelling and simulation at system level: Considerations to load and temperature effects

Abstract

The influence of load and temperature on friction is addressed in a practical way to provide a step forward in simulation-based design through the development and the numerical implementation of realistic system-level models of frictional losses. Hydraulically and electrically supplied actuators are considered at both individual component level (e.g. gear pairs, nut-screws or bearings) and integrated equipment level (e.g. reducers or even complete actuators). The need for more realistic modelling of friction for embedded and more electrical systems is highlighted, and the influence of load and temperature is illustrated from measurements. The state of the art is reviewed considering knowledge models with special focus on physical effects and data commonly supplied by components' manufacturers. Then, special attention is paid to global representation models developed as a parameterized combination of generic friction effects, and a generic framework for introducing load and temperature effects in system-level friction models is proposed. Candidate options for model structure, parameterization, numerical implementation and inverse simulation are discussed. The last part of this article supports the development of friction models from mechanical efficiency data, the parameter most widely handled by designers and suppliers, with special attention to aiding or opposite load and to sticking. Throughout this article, measured friction forces are extensively reported and compared with the proposed models.

Switched sliding mode approach for motion control systems with friction

“…In practice, the friction force may vary, not only with the relative velocity and relative displacement of contact surface but also with the load, temperature, wear, and so on. 17 So partial parameters of the LuGre model may be adapted in order to compensate the friction variation caused by the above factors. It is revealed that the adaptations of σ 0 , σ 1 , σ 2 can be responsible for most parameter variations.…”

“…15,16 In addition, friction is not only dependent on the relative displacement and relative velocity but also related to temperature, load, lubricant, and so on. 17 To deal with the variations of friction model parameters caused by the above factors, some adaptive controllers have been presented. Examples include a smooth adaptive viscous friction compensator using a nonlinear observer based on the Dahl model of friction, 18 and adaptive friction compensation method based on a continuously differentiable friction model for motion control of servo mechanisms prescribed performance.…”

Dynamic friction model with thermal and load dependency: modeling, compensation, and external force estimation

“…A precise knowledge of the friction in the system helps to improve the mechatronic design, increase precision, and gain a more accurate simulation. Recently this topic has got increasing attention in research for industrial robots [1]- [3] , but also for lightweight service robots knowledge of friction is advantageous, especially when physical human robot interaction plays a major role.…”

“…The aforementioned demands are not fully covered in the well known static or dynamic friction models [7]- [11]. Current research addresses the importance and the inclusion of temperature, velocity, and load in static friction models [1], [3], [12]- [15]. Since we have trajectories with many reversals and low velocity portions we aim on a dynamic friction model.…”

Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

“…Their research was performed under the constant‐speed friction data but it was not a real projection of the situations in which the mechanical and robotic systems could work. Maré studied the effects of the load and temperature on friction and experimentally showed that the friction is strongly influenced by temperature. He proposed a static temperature dependent friction model that was validated for a narrow temperature range.…”