scholarly journals Advancing Control for Shield Tunneling Machine by Backstepping Design with LuGre Friction Model

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Haibo Xie ◽  
Zhibin Liu ◽  
Huayong Yang
Keyword(s):  
Friction Force ◽  
Earth Pressure ◽  
Friction Model ◽  
Front Face ◽  
Backstepping Design ◽  
Shield Tunneling ◽  
Shield Tunneling Machine ◽  
Lugre Friction Model ◽  
Tunneling Machine ◽  
Lugre Friction

Shield tunneling machine is widely applied for underground tunnel construction. The shield machine is a complex machine with large momentum and ultralow advancing speed. The working condition underground is rather complicated and unpredictable, and brings big trouble in controlling the advancing speed. This paper focused on the advancing motion control on desired tunnel axis. A three-state dynamic model was established with considering unknown front face earth pressure force and unknown friction force. LuGre friction model was introduced to describe the friction force. Backstepping design was then proposed to make tracking error converge to zero. To have a comparison study, controller without LuGre model was designed. Tracking simulations of speed regulations and simulations when front face earth pressure changed were carried out to show the transient performances of the proposed controller. The results indicated that the controller had good tracking performance even under changing geological conditions. Experiments of speed regulations were carried out to have validations of the controllers.

Modeling of a Planar Microrobot Using LuGre Friction Model

2010 ◽  
Author(s):  
M. Khodabakhsh ◽  
G. R. Vossoughi ◽  
A. Kamali
Keyword(s):  
Dynamic Model ◽  
Friction Force ◽  
Coulomb Friction ◽  
Realistic Model ◽  
Friction Model ◽  
Comprehensive Model ◽  
Lugre Friction Model ◽  
Design And Manufacturing ◽  
Lugre Friction ◽  
And Control

Microrobots design and manufacturing has been one of interesting fields in robotics in recent years. Various legged designs have been proposed in the literature. All designs rely on friction for locomotion. In this paper the dynamic model of a planar two-legged microrobot is presented using LuGre friction model. LuGre friction model is more realistic model, reducing uncertainties of the microrobot dynamic model, providing a better prediction for both design and control applications. The proposed microrobot is driven by a piezoelectric actuator mounted between centers of two legs. One of important issues in modeling of microrobots is to determine the friction force between robot and environment. The LuGre friction model which is a more realistic and comprehensive model for friction is used to determine the friction force between legs and horizontal surface. The results of the LuGre friction based model are compared with those of the model which uses the Coulomb friction. This comparison shows effectiveness of using the LuGre friction model in predicting the dynamic behavior in these types of robots.

scholarly journals Asymmetric and chaotic responses of dry friction oscillators with different static and kinetic coefficients of friction

Meccanica ◽  
2021 ◽  
Author(s):  
Gábor Csernák ◽  
Gábor Licskó
Keyword(s):  
Dry Friction ◽  
Continuation Method ◽  
Friction Model ◽  
Lugre Friction Model ◽  
Kinetic Coefficients ◽  
Friction Oscillator ◽  
Lugre Friction ◽  
Friction Parameters ◽  
Two Parameter ◽  
Parameter Bifurcation

AbstractThe responses of a simple harmonically excited dry friction oscillator are analysed in the case when the coefficients of static and kinetic coefficients of friction are different. One- and two-parameter bifurcation curves are determined at suitable parameters by continuation method and the largest Lyapunov exponents of the obtained solutions are estimated. It is shown that chaotic solutions can occur in broad parameter domains—even at realistic friction parameters—that are tightly enclosed by well-defined two-parameter bifurcation curves. The performed analysis also reveals that chaotic trajectories are bifurcating from special asymmetric solutions. To check the robustness of the qualitative results, characteristic bifurcation branches of two slightly modified oscillators are also determined: one with a higher harmonic in the excitation, and another one where Coulomb friction is exchanged by a corresponding LuGre friction model. The qualitative agreement of the diagrams supports the validity of the results.

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