scholarly journals Time Delay and Feedback Control of an Inverted Pendulum With Stick Slip Friction

2007 ◽  
Author(s):  
Sue Ann Campbell ◽  
Stephanie Crawford ◽  
Kirsten Morris
Keyword(s):  
Time Delay ◽  
Basin Of Attraction ◽  
Critical Time ◽  
Viscous Friction ◽  
Experimental System ◽  
Friction Model ◽  
Stable Equilibrium Point ◽  
Feedback Controllers ◽  
Stick Slip ◽  
The Basin Of Attraction

We consider an experimental system consisting of a pendulum, which is free to rotate 360 degrees, attached to a cart which can move in one dimension. There is stick slip friction between the cart and the track on which it moves. Using two different models for this friction we design feedback controllers to stabilize the pendulum in the upright position. We show that controllers based on either friction model give better performance than one based on a simple viscous friction model. We then study the effect of time delay in this controller, by calculating the critical time delay where the system loses stability and comparing the calculated value with experimental data. Both models lead to controllers with similar robustness with respect to delay. Using numerical simulations, we show that the effective critical time delay of the experiment is much less than the calculated theoretical value because the basin of attraction of the stable equilibrium point is very small.

Friction and the Inverted Pendulum Stabilization Problem

2008 ◽  
Vol 130 (5) ◽  
Author(s):  
Sue Ann Campbell ◽  
Stephanie Crawford ◽  
Kirsten Morris
Keyword(s):  
Small Amplitude ◽  
Viscous Friction ◽  
Experimental System ◽  
Linear Quadratic Regulator ◽  
Poor Performance ◽  
Friction Model ◽  
Linear Quadratic ◽  
Stick Slip ◽  
And Performance ◽  
Friction Parameters

We consider an experimental system consisting of a pendulum, which is free to rotate 360deg, attached to a cart. The cart can move in one dimension. We study the effect of friction on the design and performance of a feedback controller, a linear quadratic regulator, that aims to stabilize the pendulum in the upright position. We show that a controller designed using a simple viscous friction model has poor performance—small amplitude oscillations occur when the controller is implemented. We consider various models for stick slip friction between the cart and the track and measure the friction parameters experimentally. We give strong evidence that stick slip friction is the source of the small amplitude oscillations. A controller designed using a stick slip friction model stabilizes the system, and the small amplitude oscillations are eliminated.

scholarly journals Study on Friction in Automotive Shock Absorbers Part 1: Friction Simulation Using a Dynamic Friction Model in the Contact Zone of an FEM Model

Vehicles ◽  
2021 ◽  
Vol 3 (2) ◽  
pp. 212-232
Author(s):  
Ludwig Herzog ◽  
Klaus Augsburg
Keyword(s):  
Ride Comfort ◽  
Viscous Friction ◽  
Simulation Method ◽  
Friction Model ◽  
Model Parameters ◽  
Dynamic Friction ◽  
Friction Modeling ◽  
Shock Absorbers ◽  
Operation Conditions ◽  
Wide Range

The important change in the transition from partial to high automation is that a vehicle can drive autonomously, without active human involvement. This fact increases the current requirements regarding ride comfort and dictates new challenges for automotive shock absorbers. There exist two common types of automotive shock absorber with two friction types: The intended viscous friction dissipates the chassis vibrations, while the unwanted solid body friction is generated by the rubbing of the damper’s seals and guides during actuation. The latter so-called static friction impairs ride comfort and demands appropriate friction modeling for the control of adaptive or active suspension systems. In this article, a simulation approach is introduced to model damper friction based on the most friction-relevant parameters. Since damper friction is highly dependent on geometry, which can vary widely, three-dimensional (3D) structural FEM is used to determine the deformations of the damper parts resulting from mounting and varying operation conditions. In the respective contact zones, a dynamic friction model is applied and parameterized based on the single friction point measurements. Subsequent to the parameterization of the overall friction model with geometry data, operation conditions, material properties and friction model parameters, single friction point simulations are performed, analyzed and validated against single friction point measurements. It is shown that this simulation method allows for friction prediction with high accuracy. Consequently, its application enables a wide range of parameters relevant to damper friction to be investigated with significantly increased development efficiency.

Modeling of Piezo-Actuated Stick-Slip Micro-Drives: An Overview

2012 ◽  
Vol 81 ◽  
pp. 39-48 ◽  
Author(s):  
Ha Xuan Nguyen ◽  
Christoph Edeler ◽  
Sergej Fatikow
Keyword(s):  
Mechanical Model ◽  
Integrated Model ◽  
Friction Model ◽  
Fundamental Importance ◽  
Future Research ◽  
Stick Slip ◽  
Research Activities ◽  
Model Combining ◽  
Friction Models

This paper gives an overview about problems of modeling of piezo-actuated stick-slip micro-drives. It has been found that existing prototypes of such devices have been investigated empirically. There is only few research dealing with the theory behind this kind of drives. By analyzing the current research activities in this field, it is believed that the model of the drive depends strongly on the friction models, but in most cases neglecting any influences of the guilding system.These analyses are of fundamental importance for an integrated model combining friction model and mechanical model offering promising possibilities for future research.

Viscous Friction Effect During the Process of Tightening and Loosening of Bolted Joints

2021 ◽  
Author(s):  
Qingyuan Lin ◽  
Yong Zhao ◽  
Qingchao Sun ◽  
Kunyong Chen
Keyword(s):  
Friction Coefficient ◽  
Viscous Friction ◽  
Normal Pressure ◽  
Friction Model ◽  
Bolted Joints ◽  
Critical Parameters ◽  
Bolted Joint ◽  
Sliding Velocity ◽  
Friction Effect ◽  
Bearing Friction

Abstract Bolted connection is one of the most widely used mechanical connections because of its easiness of installation and disassembly. Research of bolted joints mainly focuses on two aspects: high precision tightening and improvement of anti-loosening performance. The under-head bearing friction coefficient and the thread friction coefficient are the two most important parameters that affect the tightening result of the bolted joint. They are also the most critical parameters that affect the anti-loosening performance of the bolted joint. Coulomb friction model is a commonly used model to describe under-head bearing friction and thread friction, which considers the friction coefficient as a constant independent of normal pressure and relative sliding velocity. In this paper, the viscous effect of the under-head bearing friction and thread friction is observed by measuring the friction coefficient of bolted joints. The value of the friction coefficient increases with the increase of the relative sliding velocity and the decrease of the normal pressure. It is found that the Coulomb viscous friction model can better describe the friction coefficient of bolted joints. Taking into account the dense friction effect, the loosening prediction model of bolted joints is modified. The experimental results show that the Coulomb viscous friction model can better describe the under-head bearing friction coefficient and thread friction coefficient. The model considering the dense effect can more accurately predict the loosening characteristics of bolted joints.

scholarly journals Optimization and Stability of Heat Engines: The Role of Entropy Evolution

Entropy ◽  
2018 ◽  
Vol 20 (11) ◽  
pp. 865 ◽  
Author(s):  
Julian Gonzalez-Ayala ◽  
Moises Santillán ◽  
Maria Santos ◽  
Antonio Calvo Hernández ◽  
José Mateos Roco
Keyword(s):  
Local Stability ◽  
Production Efficiency ◽  
Basin Of Attraction ◽  
Heat Engine ◽  
Time Constraints ◽  
Thermal Gradients ◽  
Heat Engines ◽  
Low Dissipation ◽  
The Basin Of Attraction

Local stability of maximum power and maximum compromise (Omega) operation regimes dynamic evolution for a low-dissipation heat engine is analyzed. The thermodynamic behavior of trajectories to the stationary state, after perturbing the operation regime, display a trade-off between stability, entropy production, efficiency and power output. This allows considering stability and optimization as connected pieces of a single phenomenon. Trajectories inside the basin of attraction display the smallest entropy drops. Additionally, it was found that time constraints, related with irreversible and endoreversible behaviors, influence the thermodynamic evolution of relaxation trajectories. The behavior of the evolution in terms of the symmetries of the model and the applied thermal gradients was analyzed.

Comparison of Four Friction Models: Feature Prediction

2015 ◽  
Vol 11 (3) ◽  
Author(s):  
Yun-Hsiang Sun ◽  
Tao Chen ◽  
Christine Qiong Wu ◽  
Cyrus Shafai
Keyword(s):  
Numerical Model ◽  
Viscous Friction ◽  
Friction Model ◽  
Dynamic Features ◽  
Numerical Predictions ◽  
Wide Range ◽  
Model Predictions ◽  
Friction Models ◽  
Parameter Identifications ◽  
Model Structures

In this paper, we provide not only key knowledge for friction model selection among candidate models but also experimental friction features compared with numerical predictions reproduced by the candidate models. A motor-driven one-dimensional sliding block has been designed and fabricated in our lab to carry out a wide range of control tasks for the friction feature demonstrations and the parameter identifications of the candidate models. Besides the well-known static features such as break-away force and viscous friction, our setup experimentally demonstrates subtle dynamic features that characterize the physical behavior. The candidate models coupled with correct parameters experimentally obtained from our setup are taken to simulate the features of interest. The first part of this work briefly introduces the candidate friction models, the friction features of interest, and our experimental approach. The second part of this work is dedicated to the comparisons between the experimental features and the numerical model predictions. The discrepancies between the experimental features and the numerical model predictions help researchers to judge the accuracy of the models. The relation between the candidate model structures and their numerical friction feature predictions is investigated and discussed. A table that summarizes how to select the most optimal friction model among a variety of engineering applications is presented at the end of this paper. Such comprehensive comparisons have not been reported in previous literature.

Stick-Slip Compensation of Micro-Positioning Using Elastic-Plastic Static Friction Model

2008 ◽  
Vol 47-50 ◽  
pp. 246-249
Author(s):  
Min Gyu Jang ◽  
Chul Hee Lee ◽  
Seung Bok Choi
Keyword(s):  
Static Friction ◽  
Friction Model ◽  
Smart Structure ◽  
Asperity Contact ◽  
Stick Slip ◽  
Elastic Plastic ◽  
Highly Nonlinear ◽  
Bridge Type ◽  
Structural Parts ◽  
Rough Surface Contact

In this paper, a stick-slip compensation for the micro-positioning is presented using the statistical rough surface contact model. As for the micro-positioning structure, PZT (lead(Pb) zirconia(Zr) Titanate(Ti)) actuator is used to drive the load for precise positioning with its high resolution incorporating with the PID (Proportional Integral Derivative) control algorithm. Since the stick-slip characteristics for the micro structures are highly nonlinear and complicated, it is necessary to incorporate more detailed stick-slip model for the applications involving the high precision motion control. Thus, the elastic-plastic static friction model is used for the stick-slip compensation considering the elastic-plastic asperity contact in the rough surfaces statistically. Mathematical model of the system for the positioning apparatus was derived from the dynamic behaviors of structural parts. Since the conventional piezoelectric actuator generates the short stroke, a bridge-type flexural hinge mechanism is introduced to amplify the linear motion range. Using the proposed smart structure, simulations under the representative positioning motion were conducted to demonstrate the micro-positioning under the stick-slip friction.

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