Comparisons of two dynamic friction models

被引：14

作者：

Gafvert, M

机构：

来源：

PROCEEDINGS OF THE 1997 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS | 1997年

关键词：

D O I：

10.1109/CCA.1997.627584

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Two recent dynamic friction models, the LuGre model and a model by Bliman and Sorine, are investigated and compared. Comparisons are made of captured friction phenomena, behaviour at sere crossings of the velocity and computational issues. Limit cycles in position control of a simple servo with dynamic friction are investigated by means of single input describing function analysis. Both models give reasonable results in the describing function analysis. The LuGre model exhibits a richer behaviour in terms of friction phenomena. The Bliman-Sorine model can be problematic to use because of poor damping properties at zero crossings of the velocity.

引用

页码：386 / 391

页数：6