A NEW MODEL FOR CONTROL OF SYSTEMS WITH FRICTION
A NEW MODEL FOR CONTROL OF SYSTEMS WITH FRICTION
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DOI：
10.1109/9.376053
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发表时间：
1995-03-01
影响因子：
6.8
通讯作者：
LISCHINSKY, P
中科院分区：
文献类型：
--
作者：
DEWIT, CC;OLSSON, H;LISCHINSKY, P
本文提出了一种新的摩擦动力学模型。该模型捕捉到了实验中观察到的大部分摩擦行为。这包括Stribeck效应、滞后、静摩擦的弹簧特性和变化的脱离力。通过分析和仿真研究了该模型与控制设计有关的性质。新的控制策略，包括摩擦观测器，进行了探讨，并提出了稳定性结果。
In this paper we propose a new dynamic model for friction. The model captures most of the friction behavior that has been observed experimentally. This includes the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force. Properties of the model that are relevant to control design are investigated by analysis and simulation. New control strategies, including a friction observer, are explored, and stability results are presented.