Phase-Space Reconstructions of Stick-Slip Systems

1995 ◽  
Author(s):  
B. F. Feeny ◽  
J. W. Liang
Keyword(s):  
Phase Space ◽  
Degree Of Freedom ◽  
Slip Systems ◽  
Stick Slip ◽  
Reconstruction Process ◽  
Single Degree Of Freedom ◽  
The Real ◽  
Single Degree ◽  
Friction Models ◽  
Method Of Delays

Abstract Nonsmooth processes such as stick-slip may introduce problems with phase-space reconstructions. We examine chaotic single-degree-of-freedom stick-slip friction models and use the method of delays to reconstruct the phase space. We illustrate that this reconstruction process can cause pseudo trajectories to collapse in a way that is unlike, yet related to, the dimensional collapse in the original phase-space. As a result, the reconstructed attractor is not topologically similar to the real attractor. Standard dimensioning tools are applied in effort to recognize this situation. The use of additional observables is examined as a possible remedy for the problem.

scholarly journals Experimental investigation of a single-degree-of-freedom system with Coulomb friction

2020 ◽  
Vol 99 (3) ◽  
pp. 1781-1799
Author(s):  
Luca Marino ◽  
Alice Cicirello
Keyword(s):  
Experimental Investigation ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
Systematic Observation ◽  
Stick Slip ◽  
Friction Forces ◽  
Single Degree Of Freedom ◽  
Sdof System ◽  
Single Degree ◽  
Set Up

AbstractThis paper presents an experimental investigation of the dynamic behaviour of a single-degree-of-freedom (SDoF) system with a metal-to-metal contact under harmonic base or joined base-wall excitation. The experimental results are compared with those yielded by mathematical models based on a SDoF system with Coulomb damping. While previous experiments on friction-damped systems focused on the characterisation of the friction force, the proposed approach investigates the steady response of a SDoF system when different exciting frequencies and friction forces are applied. The experimental set-up consists of a single-storey building, where harmonic excitation is imposed on a base plate and a friction contact is achieved between a steel top plate and a brass disc. The experimental results are expressed in terms of displacement transmissibility, phase angle and top plate motion in the time and frequency domains. Both continuous and stick-slip motions are investigated. The main results achieved in this paper are: (1) the development of an experimental set-up capable of reproducing friction damping effects on a harmonically excited SDoF system; (2) the validation of the analytical model introduced by Marino et al. (Nonlinear Dyn, 2019. https://doi.org/10.1007/s11071-019-04983-x) and, particularly, the inversion of the transmissibility curves in the joined base-wall motion case; (3) the systematic observation of stick-slip phenomena and their validation with numerical results.

Global convergence for two-pulse rest-to-rest learning for single-degree-of-freedom systems with stick-slip Coulomb friction

Robotica ◽  
2006 ◽  
Vol 25 (3) ◽  
pp. 307-313
Author(s):  
Brian J. Driessen ◽  
Nader Sadegh
Keyword(s):  
Global Convergence ◽  
Coefficient Of Friction ◽  
Coulomb Friction ◽  
Sliding Friction ◽  
Input Pulse ◽  
Iterative Learning ◽  
Degree Of Freedom ◽  
Stick Slip ◽  
Single Degree Of Freedom ◽  
Single Degree

SUMMARYIn this paper, we consider the problem of rest-to-rest maneu-ver learning, via iterative learning control (ILC), for single-degree-of-freedom systems with stick-slip Coulomb friction and input bounds. The static coefficient of friction is allowed to be as large as three times the kinetic coefficient of friction. The input is restricted to be a two-pulse one. The desired input's first pulse magnitude is required to be five times the largest possible kinetic (sliding) friction force. The theory therefore allows the stiction force to be as large as the desired second input pulse. Under these conditions, we prove global convergence of a simple iterative learning controller. To the best of our knowledge, such a global-convergence proof has not been presented previously in the literature for the rest-to-rest problem with stick-slip Coulomb friction.

Bifurcation and Chaos in Friction-Induced Vibration

2002 ◽  
Author(s):  
Yong Li ◽  
Z. C. Feng
Keyword(s):  
Friction Model ◽  
Degree Of Freedom ◽  
Stable Limit ◽  
Mechanical Oscillator ◽  
Chaotic Motions ◽  
Sliding Speed ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Friction Models ◽  
Friction Induced Vibration

Friction-induced vibration is a phenomenon that has received extensive study by the dynamics community. This is because of the important industrial relevance and the evere-volving development of new friction models. In this paper, we report the result of bifurcation study of a single-degree-of-freedom mechanical oscillator sliding over a surface. The friction model we use is that developed by Canudas de Wit et al, a model that is receiving increasing acceptance from the mechanics community. Using this model, we find a stable limit cycle at intermediate sliding speed for a single-degree-of-freedom mechanical oscillator. Moreover, the mechanical oscillator can exhibit chaotic motions. For certain parameters, numerical simulation suggests the existence of a Silnikov homoclinic orbit. This is not expected in a single-degree-of-freedom system. The occurrence of chaos becomes possible because the friction model contains one internal variable. This demonstrates a unique characteristic of the friction model. Unlike most friction models, the present model is capable of simultaneously modeling self-excitation and predicting stick-slip at very low sliding speed as well.

Kinematic comparison of single degree-of-freedom robotic gait trainers

2021 ◽  
Vol 159 ◽  
pp. 104258
Author(s):  
Jeonghwan Lee ◽  
Lailu Li ◽  
Sung Yul Shin ◽  
Ashish D. Deshpande ◽  
James Sulzer
Keyword(s):  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Robotic Gait
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