The generalized Maxwell-slip model: a novel model for friction Simulation and compensation

Al‐Bender, Farid; Lampaert, Vincent; Swevers, Jan

doi:10.1109/tac.2005.858676

Cited by 455 publications

(202 citation statements)

References 15 publications

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“…The pioneering research on dynamic friction model for different materials was conducted by Dahl [15] and therefore the Dahl model became one of the earliest dynamic friction models. Thereafter, dynamic models, such as Dupont model [16,17], LuGre model [18], Leuven model [19], and GMS model [20], were derived from the Dahl model. These models used the Dahl model's properties to describe preparatory displacement-slip friction and to predict friction hysteresis.…”

Section: Introductionmentioning

confidence: 99%

Effect of Axial Vibration on Sliding Frictional Force between Shale and 45 Steel

Hao

Chen

Liu

et al. 2018

Shock and Vibration

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Activating drill string vibration is an effective means to mitigate the excessive drag encountered during drilling complexstructure wells. However, the Coulomb model cannot describe the sliding friction behavior between drill string and borehole rock with imposed axial vibrations. To solve this problem, a specially designed experimental setup was utilized to investigate the characteristics of axial vibrating-sliding coupling friction. The results indicate that when vibration velocity is greater than sliding velocity, axial vibration can significantly reduce friction force between contact surfaces. Its friction reduction mechanism embodies not only the changes of instantaneous friction force, but also friction coefficient. Meanwhile, a friction coupling model was established based on the Hertz contact theory and Dahl model. The corresponding computational program was developed in Matlab/Simulink environment. The calculation results are in good agreement with the experimental results, verifying the validity of the present method. Furthermore, to overcome the shortcoming of Dahl model, a dynamic friction coefficient model was proposed to evaluate the friction-reducing effect of axial vibration using dimensional analysis method. The model parameters under different lubrication conditions were retrieved through inverse calculation with experimental data. This method provides a new solution for evaluating the friction-reducing effect of hydraulic oscillator and optimizing its placement.

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Section: Introductionmentioning

confidence: 99%

Effect of Axial Vibration on Sliding Frictional Force between Shale and 45 Steel

Hao

Chen

Liu

et al. 2018

Shock and Vibration

View full text Add to dashboard Cite

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“…Here we derive the algorithm of the compensator based on the simultaneous differential equations (9). The backward Euler discretization of (9a) can be written as follows:…”

Section: Main Contribution: Exponentially Decaying Output Forcementioning

confidence: 99%

“…A similar idea has also been employed by the authors [7], in which a multi-state viscoelasto-plastic friction model was used for friction compensation of a harmonic drive transmission. Tjahjowidodo et al [8] also developed a friction compensator for a harmonic drive based on a multi-state friction model [9].…”

Section: Introductionmentioning

confidence: 99%

Some Improvements in Elastoplastic Friction Compensator

Iwatani

Kikuuwe

2017

SICE Journal of Control, Measurement, and System Integration

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: For robotic joints with compliant transmissions, Mahvash and Okamura have proposed a friction compensator based on an elastoplastic friction model. One drawback of the compensator is that the compensator continues producing non-zero output force in the static friction state, which results in the degraded backdrivability of joints. In order to remedy this problem, this paper proposes an elastoplastic friction compensator with improved static friction behavior, which is realized by an additional term that makes the output force exponentially decay in the static friction state. This paper also proposes an additional algorithm that adjust the decay rate of the output force in real time. The proposed methods are experimentally tested with a linear actuator with a timing belt and a six-axis industrial manipulator.

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“…The GMS friction model proposed by Al-Bender et al (2004a, 2004b, 2005 is the most recent friction model presented in literature. It is the most complete model which represents the majority of microscopic and macroscopic behaviour of friction phenomena.…”

Section: Gms Friction Modelmentioning

confidence: 99%

Identification of GMS friction model using a new switching function: experimental investigation

Grami

Gharbia

2017

IJMIC

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Abstract:The objective of this paper is the identification of generalised Maxwell slip (GMS) friction model using a new proposed switching function. The GMS friction model is composed of two phases and a switching function, which guarantee the transition from one phase to another. The switching function is based on the friction model and its parameters which are unknown. Hence, a new switching function is proposed in this paper. The new switching function is validated experimentally. The identification of the GMS friction model is done using online least square estimator combined with filtering approaches and a linearisation in order to adopt the formulation of the friction model to the estimator mechanism. Moreover, the new proposed switching function is integrated with the process of the identification and it is validated using an experimental test. The experimental results show that the switching function proposed is convenient for the identification of the friction model.

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The generalized Maxwell-slip model: a novel model for friction Simulation and compensation

Cited by 455 publications

References 15 publications

Effect of Axial Vibration on Sliding Frictional Force between Shale and 45 Steel

Effect of Axial Vibration on Sliding Frictional Force between Shale and 45 Steel

Some Improvements in Elastoplastic Friction Compensator

Identification of GMS friction model using a new switching function: experimental investigation

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