DYNAMIC HYSTERESIS MODEL DERIVATED FROM LuGre MODEL

Sinuhe Benitez, Leonardo Acho, Ricardo Guerra

Abstract

This paper presents a dynamic hysteresis model; which is a modification of the well known LuGre model. This model has been based on a modification to the LuGre model dynamic, which could be seen as a forward and backward displacement in the steady state solution of the dynamic LuGre model. The LuGre friction model is based on the average deflection of the bristles; implicitly, it is based on the relationship between stress and strain of the bristles under deformation. From the friction model point of view, this dynamic hysteresis model can capture the deformation behaviour between stress and strain beyond the elasticity region for the material (the bristles), a region where the relationship between stress and strain is no longer linear. So, our model can capture the friction phenomena of the original LuGre model and presents a new behaviour in the pre-sliding regime. Simulation results are presented to support our contribution.

References

  1. C. Canudas de Wit, H. Olsson, K. A. P. L. (1995). A new model for control of system with friction. IEEE Trans. on Automatic Control, (3):419-425.
  2. C. Ganseman, J. Swevers, T. P. F. A. B. (1997). An integrated friction model with improved presliding behavior. In Proc. Symp. Robot Control, pages 221-226, Nates, France.
  3. Dahl, P. (1968). A solid friction model. Technical Report TOR-0158(3107-18)-1,1968, Aerospace Corp.
  4. Figure 9: Pre-Sliding displacement.
  5. Figure 10: Pre-sliding displacement.
  6. D.P. Hess, A. S. (1990). Friction at a lubricated line contact operating at oscillating sliding velocities. J. Tribology, pages 147-152.
  7. F. W. Sears, M. W. Zemansky, H. D. Y. R. A. F. (1957). Fisica Universitaria. Addison Wesley Longman, Mexico, 10th edition.
  8. J. Courtney-Pratt, E. E. (1957). The effect of a tangential force on the contact of metallic bodies. In Proc. Royal Society, pages 529-550, Nates, France.
  9. J. Swevers, F Al-Bender, C. G. G. T. P. (2000). An integrated friction model structure with improved presliding behavior for accurate friction compensation. IEEE Trans. on Automatic Control, (4):675-686.
Download


Paper Citation


in Harvard Style

Benitez S., Acho L. and Guerra R. (2005). DYNAMIC HYSTERESIS MODEL DERIVATED FROM LuGre MODEL . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 972-8865-31-7, pages 179-183. DOI: 10.5220/0001156201790183


in Bibtex Style

@conference{icinco05,
author={Sinuhe Benitez and Leonardo Acho and Ricardo Guerra},
title={DYNAMIC HYSTERESIS MODEL DERIVATED FROM LuGre MODEL},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2005},
pages={179-183},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001156201790183},
isbn={972-8865-31-7},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - DYNAMIC HYSTERESIS MODEL DERIVATED FROM LuGre MODEL
SN - 972-8865-31-7
AU - Benitez S.
AU - Acho L.
AU - Guerra R.
PY - 2005
SP - 179
EP - 183
DO - 10.5220/0001156201790183