Friction induced hunting limit cycles: A comparison between the LuGre and switch friction model

被引:77
作者
Hensen, RHA
van de Molengraft, MJG
Steinbuch, M
机构
[1] Integrated Dynam Engn, NL-6002 EA Weert, Netherlands
[2] Eindhoven Univ Technol, Dept Mech Engn, Control Syst Technol Grp, NL-5600 MB Eindhoven, Netherlands
关键词
friction; limit cycles; PID control; stability analysis;
D O I
10.1016/S0005-1098(03)00234-6
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 paper, friction induced limit cycles are predicted for a simple motion system consisting of a motor-driven inertia subjected to friction and a PID-controlled regulator task. The two friction models used, i.e., (i) the dynamic LuGre friction model and (ii) the static switch friction model, are compared with respect to the so-called hunting phenomenon. Analysis tools originating from the field of nonlinear dynamics will be used to investigate the friction induced limit cycles. For a varying controller gain, stable and unstable periodic solutions are computed numerically which, together with the stability analysis of the closed-loop equilibrium points, result in a bifurcation diagram. Bifurcation analysis for both friction models indicates the disappearance of the hunting behavior for controller gains larger than the gain corresponding to the cyclic fold bifurcation point. (C) 2003 Elsevier Ltd. All rights reserved.
引用
收藏
页码:2131 / 2137
页数:7
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