Identification of Friction Model Parameters Using the Inverse Harmonic Method

2016 ◽  
Vol 139 (2) ◽  
Author(s):  
Abdallah Hadji ◽  
Njuki Mureithi
Keyword(s):  
Contact Region ◽  
Signal Reconstruction ◽  
Superposition Principle ◽  
Harmonic Balance Method ◽  
Friction Model ◽  
Contact Forces ◽  
Fourier Series Expansion ◽  
Model Parameters ◽  
Stick Slip ◽  
Friction Forces

A hybrid friction model has been developed by Azizian and Mureithi (2013, “A Hybrid Friction Model for Dynamic Modeling of Stick–Slip Behavior,” ASME Paper No. PVP2013-97249) to simulate the general friction behavior between surfaces in contact. However, identification of the model parameters remains an unresolved problem. To identify the parameters of the friction model, the following quantities are required: contact forces (normal and tangential or friction forces), the slip velocity, and the displacement in the contact region. Simultaneous direct measurement of these quantities is difficult. In the present work, a beam clamped at one end and simply supported with the consideration of friction at the other is used as a mechanical amplifier of the friction effects at the microscopic level. Using this simplified approach, the contact forces, the sliding velocity, and the displacement can be indirectly obtained by measuring the beam vibration response. The inverse harmonic balance method is a new method based on nonlinear modal analysis which is developed in this work to calculate the contact forces. The method is based on the modal superposition principle and Fourier series expansion. Two formulations are possible: a harmonic form formulation and a subharmonic form formulation. The approach based on subharmonic forms coupled with spline fitting gave the best results for signal reconstruction. Signal reconstruction made it possible to accurately identify the parameters of the hybrid friction model with a multiple step approach.

Nonlinear Normal Modes and the LuGre Friction Model Parameter Identification

2014 ◽  
Author(s):  
Abdallah Hadji ◽  
Njuki Mureithi
Keyword(s):  
Contact Region ◽  
Signal Reconstruction ◽  
Superposition Principle ◽  
Harmonic Balance Method ◽  
Friction Model ◽  
Contact Forces ◽  
Fourier Series Expansion ◽  
Model Parameters ◽  
Harmonic Forms ◽  
Friction Behavior

A Hybrid friction model has recently been developed by Azizian and Mureithi [1] to simulate the general friction behavior between surfaces in contact. However, identification of the model parameters remains an unresolved problem. To identify the parameters of the friction model, the following quantities are required: contact forces (friction and impact forces), the slip velocity and displacement in the contact region. Direct measurement of these quantities is difficult. In the present work, a beam clamped at one end and simply supported with the consideration of friction effect at the other is used as a mechanical amplifier of the friction effects at the microscopic level. Using this simplified approach, the contact forces, the sliding velocity and the displacement can be indirectly obtained by measuring the beam vibration response. A new method based on nonlinear modal analysis to calculate the contact forces is developed in the present work. The method is based on the modal superposition principle and Fourier series expansion. For the harmonic balance method, two approaches were tested. The approach based on sub-harmonic forms gave the best results. Signal reconstruction made it possible to accurately identify the parameters of the hybrid friction model with a multiple step approach.

Validation of Friction Model Parameters Identified Using the Inverse Harmonic Balance Method

2015 ◽  
Author(s):  
Abdallah Hadji ◽  
Njuki Mureithi
Keyword(s):  
Friction Force ◽  
Harmonic Balance ◽  
Contact Point ◽  
Harmonic Balance Method ◽  
Friction Model ◽  
Balance Method ◽  
Model Parameters ◽  
Intermediate Step ◽  
Friction Forces ◽  
Friction Models

A hybrid friction model was recently developed by Azizian and Mureithi [1] to simulate the friction behavior of tube-support interaction. However, identification of the model parameters remains unresolved. In previous work, the friction model parameters were identified using reverse the harmonic method, where the following quantities were indirectly obtained by measuring the vibration response of a beam: friction force, sliding speed of the force of impact and local displacement at the contact point. In the present work, the simulation by the finite element method (FEM) of a beam clamped at one end and simply supported with the consideration of friction effect at the other is conducted. This beam is used to validate the inverse harmonic balance method and the parameters of the friction models identified previously. Two static friction models (the Coulomb model and Stribeck model) are tested. The two models produce friction forces of the correct order of magnitude compared to the friction force calculated using the inverse harmonic balance method. However, the models cannot accurately reproduce the beam response; the Stribeck friction model is shown to give the response closer to experiments. The results demonstrate some of the challenges associated with accurate friction model parameter identification using the inverse harmonic balance method. The present work is an intermediate step toward identification of the hybrid friction model parameters and, longer term, improved analysis of tube-support dynamic behavior under the influence of friction.

A linear differential formulation of friction forces for adaptive estimator algorithms

Robotica ◽  
2001 ◽  
Vol 19 (4) ◽  
pp. 407-421 ◽  
Author(s):  
C. J. Tsaprounis ◽  
N. A. Aspragathos
Keyword(s):  
Differential Equation ◽  
Friction Coefficient ◽  
Control Systems ◽  
Friction Model ◽  
Model Parameters ◽  
Coefficient Function ◽  
Stick Slip ◽  
Friction Forces ◽  
Differential Formulation ◽  
Linear Differential

In this paper a new approach for the formulation of the friction forces velocity function is introduced. The scope of this formulation is to facilitate the implementation of control laws for systems where friction forces appear. The friction model includes the exponential decay part, the Coulomb and viscous friction. The introduced formulation is based on the observation that the friction coefficient function of velocity can be presented as the solution of a linear differential equation. Due to this linearity, the parameters of the derived differential equation can be estimated easily by an adaptive system. The estimation of these parameters is equivalent to the estimation of the friction coefficient in the full range of operational velocities. This knowledge gives to the designed control systems the potential to avoid successfully the stick-slip phenomenon.A control law for one D.O.F. system, where friction appears, is designed in order to prove the applicability of the proposed formulation of the friction model in control systems. A MRAC adaptive algorithm estimates the differential friction model parameters, using the measured friction force, while a sliding controller adjusts the motion of the mechanical system. The proposed friction model can be used in any control system where friction forces have to be compensated. The linear form of the model is suitable for common adaptive estimators. Therefore, the proposed structure is suitable for robotic applications, such as assembly, deburring, etc.

Nonlinear Normal Modes and the Dahl Friction Model Parameter Identification

2014 ◽  
Author(s):  
Abdallah Hadji ◽  
Njuki Mureithi
Keyword(s):  
Steam Generator ◽  
Normal Modes ◽  
Nonlinear Normal Modes ◽  
Friction Model ◽  
Nuclear Industry ◽  
Contact Forces ◽  
Fourier Series Expansion ◽  
Model Parameters ◽  
Nonlinear Normal ◽  
Dahl Friction Model

Fretting wear of steam generator tubes due to vibration induced by fluid flow remains a serious problem in the nuclear industry. Azizian and Mureithi [1] have recently developed a hybrid friction model to simulate the friction behavior of tube-support interaction. However, identification of the model parameters remains unresolved. To identify the parameters of the friction model, the following quantities are required: contact forces (tangential force (friction) and normal force (impact)), the slip velocity and displacement in the contact region. Direct measurement of these quantities by using a steam generator tube interacting with its supports is difficult. To simplify the problem, a beam, clamped at one end and simply supported with consideration of friction effect at the other is used. The beam acts as a mechanical amplifier of the friction effects at the microscopic level. Using this simple setup, the contact forces, the sliding velocity and the displacement can be indirectly obtained from the beam’s vibration response measurements. A new method based on nonlinear modal analysis was developed to calculate the contact forces. This method is based on the modal superposition principle and Fourier series expansion. The nonlinear normal modes (NNMs) and the generalized coordinates (GCs) have been identified experimentally as functions of the excitation level, the frequency, the preload in the contact area, with and without lubrication. Three hypotheses and related analyses to identify the NNMs and GCs were tested; the analysis based on the harmonic balance method gives the best results for reconstructing the accelerometer signals with an error less than 2% for all excitation levels compared to more than 2% for other methods. The successful signal reconstruction makes it possible to accurately identify the parameters of the Dahl friction model. This is also the first step to identify the parameters of the hybrid friction model.

scholarly journals Validation of Friction Model Parameters Identified Using the IHB Method Using Finite Element Method

2019 ◽  
Vol 2019 ◽  
pp. 1-19
Author(s):  
Abdallah Hadji ◽  
Njuki Mureithi
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Friction Force ◽  
Harmonic Balance ◽  
Harmonic Balance Method ◽  
Friction Model ◽  
Balance Method ◽  
Model Parameters ◽  
Friction Models ◽  
Element Method

A hybrid friction model was recently developed by Azizian and Mureithi (2013) to simulate the friction behavior of tube-support interaction. However, identification and validation of the model parameters remains unresolved. In previous work, the friction model parameters were identified using the reverse harmonic method, where the following quantities were indirectly obtained by measuring the vibration response of a beam: friction force, sliding speed of the force of impact, and local displacement at the contact point. In the present work, the numerical simulation by the finite element method (FEM) of a beam clamped at one end and simply supported with the consideration of friction effect at the other is conducted. This beam is used to validate the inverse harmonic balance method and the parameters of the friction models identified previously. Two static friction models (the Coulomb model and Stribeck model) are tested. The two models produce friction forces of the correct order of magnitude compared to the friction force calculated using the inverse harmonic balance method. However, the models cannot accurately reproduce the beam response; the Stribeck friction model is shown to give the response closest to experiments. The results demonstrate some of the challenges associated with accurate friction model parameter identification using the inverse harmonic balance method. The present work is an intermediate step toward identification of the hybrid friction model parameters and, longer-term, improved analysis of tube-support dynamic behavior under the influence of friction.

Experimental Validation of a 2D Bristle Friction Force Model

2010 ◽  
Author(s):  
Steven Fillmore ◽  
Jianxun Liang ◽  
Ou Ma
Keyword(s):  
Friction Model ◽  
Contact Friction ◽  
Force Model ◽  
Tangential Plane ◽  
Stick Slip ◽  
Friction Forces ◽  
Body Contact ◽  
Point Of Interest ◽  
Experimental Effort ◽  
Sliding Regimes

This paper describes an experimental effort designed to validate a general 2D bristle contact friction model. The model extends the 1D integrated bristle friction model to a 2D space by allowing the “bristle spring” to not only stretch along the direction of the bristle displacement but also rotate due to the instantaneous direction change of the velocity or motion trend in the common tangential plane of the contacting surfaces involved at the point of interest. The model is capable of simulating frictional behaviour in both sliding and sticking regimes occurring in general 3D rigid-body contact. With such an extension, the resulting friction model can be readily used to compute 3D contact friction forces in both sticking and sliding regimes. Two experiments were designed and implemented to validate the new 2D bristle model. The experiments were able to passively produce common frictional phenomena such as sliding, sticking, and stick-slip.

Nanoscale Friction Dynamic Modeling

2009 ◽  
Vol 131 (6) ◽  
Author(s):  
Fakhreddine Landolsi ◽  
Fathi H. Ghorbel ◽  
Jun Lou ◽  
Hao Lu ◽  
Yuekai Sun
Keyword(s):  
Friction Model ◽  
Experimental Results ◽  
Atomic Scale ◽  
Model Parameters ◽  
Large Set ◽  
Asperity Contact ◽  
State Variables ◽  
Stick Slip ◽  
Proposed Model ◽  
Nanoscale Friction

Friction and system models are fundamentally coupled. In fact, the success of models in predicting experimental results depends highly on the modeling of friction. This is true at the atomic scale where the nanoscale friction depends on a large set of parameters. This paper presents a novel nanoscale friction model based on the bristle interpretation of single asperity contact. This interpretation is adopted after a review of dynamic friction models representing stick-slip motion in macrotribology literature. The proposed model uses state variables and introduces a generalized bristle deflection. Jumping mechanisms are implemented in order to take into account the instantaneous jumps observed during 2D stick-slip phenomena. The model is dynamic and Lipchitz, which makes it suitable for future control implementation. Friction force microscope scans of a muscovite mica sample were conducted in order to determine numerical values of the different model parameters. The simulated and experimental results are then compared in order to show the efficacy of the proposed model.

scholarly journals Modelling elastic structures with strong nonlinearities with application to stick–slip friction

2014 ◽  
Vol 470 (2161) ◽  
pp. 20130593 ◽  
Author(s):  
Robert Szalai
Keyword(s):  
Point Contact ◽  
Linear Structure ◽  
Transformation Method ◽  
Friction Model ◽  
Contact Forces ◽  
Stick Slip ◽  
Lipschitz Continuous ◽  
Contact Points ◽  
Dimensional Equation ◽  
Low Dimensional

An exact transformation method is introduced that reduces the governing equations of a continuum structure coupled to strong nonlinearities to a low-dimensional equation with memory. The method is general and well suited to problems with isolated discontinuities such as friction and impact at point contact. It is assumed that the structure is composed of two parts: a continuum but linear structure and finitely many discrete but strong nonlinearities acting at various contact points of the elastic structure. The localized nonlinearities include discontinuities, e.g. the Coulomb friction law. Despite the discontinuities in the model, we demonstrate that contact forces are Lipschitz continuous in time at the onset of sticking for certain classes of structures. The general formalism is illustrated for a continuum elastic body coupled to a Coulomb-like friction model.

Characterization of Contact Kinematics and Application to the Design of Wedge Dampers in Turbomachinery Blading: Part 1—Stick-Slip Contact Kinematics

1998 ◽  
Vol 120 (2) ◽  
pp. 410-417 ◽  
Author(s):  
B. D. Yang ◽  
C. H. Menq
Keyword(s):  
Friction Force ◽  
Harmonic Balance Method ◽  
Forced Response ◽  
Operating Conditions ◽  
Force Model ◽  
Blade Vibration ◽  
Stick Slip ◽  
Friction Forces ◽  
Contact Kinematics ◽  
Stiffness And Damping

Friction dampers are often used in turbine design to attenuate blade vibration to acceptable levels so as to prolong blades’ service life. A wedge damper, also called a self-centering, blade-to-blade damper, can provide more design flexibility to meet various needs in different operating conditions when compared with conventional platform dampers. However, direct coupling of the two inclined friction interfaces of the wedge damper often leads to very complex contact kinematics. In Part I of this two-part paper, a dual-interface friction force model is proposed to investigate the coupling contact kinematics. The key issue of the model formulation is to derive analytical criteria for the stick-slip transitions that can be used to precisely simulate the complex stick-slip motion and, thus, the induced friction force as well. When considering cyclic loading, the induced periodic friction forces can be obtained to determine the effective stiffness and damping of the interfaces over a cycle of motion. In Part II of this paper, the estimated stiffness and damping are then incorporated with the harmonic balance method to predict the forced response of a blade constrained by wedge dampers.

A method for dynamic modeling and simulation of the translational joint with clearance and LuGre friction

2018 ◽  
Vol 32 (34n36) ◽  
pp. 1840118
Author(s):  
Xiaojun Wang
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Modeling ◽  
Friction Model ◽  
Contact Forces ◽  
Geometric Constraints ◽  
Stick Slip ◽  
Bilateral Constraints ◽  
Lugre Friction ◽  
Translational Joint ◽  
Slider Motion

The main purpose of this paper is to present a method for dynamic modeling and simulation of the translational joint with friction and clearance. The sizes of the clearances and the impacts between the slider and the guide in the translational joint can be neglected when the clearance sizes are very small. The geometric constraints of the translational joint are treated as bilateral constraints. The contact forces acting on the slider are reduced to the forces on the slider corners. The LuGre friction model is used to describe friction between slider and guide, because it can capture the variation of the friction force with slip velocity and the slider motion with stick–slip phenomenon. The problem of computing the normal forces on the slider is formulated and solved as a horizontal linear complementarity problem (HLCP), which is embedded in the event-driven method. Finally, a numerical example is considered and numerical results are presented to show the feasibility and the effectiveness of the method.

Sign in / Sign up

Export Citation Format

Share Document