Pre-Sliding Friction Control Using the Sliding Mode Controller with Hysteresis Friction Compensator

Friction phenomenon can be described as two parts, which are the pre-sliding and sliding regions. In the motion of the sliding region, the friction force depends on the velocity of the system and consists of the Coulomb, stick-slip, Streibeck effect and viscous frictions. The friction force in the p...

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Bibliographic Details
Published in:Journal of mechanical science and technology 2004-10, Vol.18 (10), p.1755-1762
Main Authors: Choi, Jeong Ju, Kim, Jong Shik, Han, Seong Ik
Format: Article
Language:English
Subjects:
Ball screws
Compensators
Control systems
Controllers
Friction
Hysteresis
Mathematical models
Preisach's theory
Sheet molding compounds
Sliding
Sliding friction
Sliding mode
Sliding mode control
Studies
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Summary:Friction phenomenon can be described as two parts, which are the pre-sliding and sliding regions. In the motion of the sliding region, the friction force depends on the velocity of the system and consists of the Coulomb, stick-slip, Streibeck effect and viscous frictions. The friction force in the pre-sliding region, which occurs before the breakaway, depends on the position of the system. In the case of the motion of the friction in the sliding region, the LuGre model describes well the friction phenomenon and is used widely to identify the friction model, but the motion of the friction in the pre-sliding such as hysteresis phenomenon cannot be expressed well. In this paper, a modified friction model for the motion of the friction in the pre-sliding region is suggested which can consider the hysteresis phenomenon as the Preisach model. In order to show the effectiveness of the proposed friction model, the sliding mode controller (SMC) with hysteresis friction compensator is synthesized for a ball-screw servo system.
ISSN:1738-494X
1226-4865
1976-3824
DOI:10.1007/BF02984324