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TECHNICAL PAPERS

Studies of Stick-Slip Friction, Presliding Displacement, and Hunting

[+] Author and Article Information
Ruh-Hua Wu, Pi-Cheng Tung

Department of Mechanical Engineering, National Central University, Taiwan, R.O.C.e-mail: t331166@ncu.edu.tw

J. Dyn. Sys., Meas., Control 124(1), 111-117 (Oct 20, 2000) (7 pages) doi:10.1115/1.1434271 History: Received October 20, 2000
Copyright © 2002 by ASME
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References

Figures

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The Coulomb friction model, viscous part not shown
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Schematic diagram of the position-control system
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(a) Block diagram of the experimental system; (b) the dead zone from u to ω
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Input u and output ω from the experiment and from the model in Eq. (2). (a) Biased positive command; (b) data of (a) in 2.2≤t≤3.2 second.
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(a) Dead zone from u to ω in the experimental system; (b) gain of the voltage amplifier KA
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(a) Step response for r=0.05 mm,Kp=1 and Ki=2; (b) details of the response near the reference position
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Step response for r=0.02 mm,Kp=1 and Ki=5
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Step response for r=0.02 mm,Kp=1 and Ki=20
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Root loci, Kp=1,0≤Ki≤100, sampling rate Fs=100 Hz
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(a) Step response with Kp=1 and Ki=60; (b) step response with Kp=1 and Ki=70
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Vanishes of hunting using the modified Coulomb friction model
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Measurement of presliding displacement. (a) Forward direction; (b) backward direction.
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Step responses with Kp=1 and Ki=1. (a) r=0.2 mm; (b) r=−0.2 mm.
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Step responses with Kp=1 and Ki=5. (a) r=0.2 mm, reference input and output position; (b) r=0.2 mm, control voltage; (c) r=−0.2 mm, reference input and output position; (d) r=−0.2 mm, control voltage.
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Step responses for Kp=1 and Ki=10. (a)r=0.2 mm, reference input and output position; (b) r=0.2 mm, control voltage; (c) r=−0.2 mm, reference input and output position; (d) r=−0.2 mm, control voltage.

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