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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

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Armstrong-Hélouvry,  B., Dupont,  P., and Canudas de Wit,  C., 1994, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction,” Automatica, 30, No. 7, pp. 1083–1138.
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Huang,  S. J., Yen,  J. Y., and Lu,  S. S., 1999, “Dual Mode control of a System with Friction,” IEEE Trans. Control Syst. Technol., 7, No. 3, pp. 306–314.
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Canudas de Wit,  C., Olsson,  H., Åström,  K., and Lischinsky,  P., 1995, “A New Model for Control of Systems with Friction,” IEEE Trans. Autom. Control, 40, No. 3, pp. 419–425.
Swevers,  J., Al-Bender,  F., Ganseman,  C. G., and Prajogo,  T., 2000, “An Integrated Friction Model Structure with Improved Presliding Behavior for Accurate Friction Compensation,” IEEE Trans. Autom. Control, 45, No. 4, pp. 675–686.
Canudas de Wit,  C., and Lischinsky,  P., 1997, “Adaptive Friction Compensation with Partially Known Dynamic Friction Model,” International Journal of Adaptive Control and Signal Processing,II, pp. 65–80.
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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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