Duhem modeling of friction-induced hysteresis

• Published in: IEEE control systems Vol. 28; no. 5; pp. 90 - 107
• Main Authors: Padthe, A., Drincic, B., Jinhyoung Oh, Rizos, D., Fassois, S., Bernstein, D.
• Format: Magazine Article
• Language: English
• Published: New York, NY IEEE 01.10.2008; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Applied sciences; Computational modeling; DC motors; Exact sciences and technology; Feedback; Friction; Friction, wear, lubrication; Hysteresis motors; Linear systems; Machine components; Mechanical engineering. Machine design; Performance evaluation; Servomechanisms; Servomotors; Testing; Friction; Modeling; Hysteresis
• ISSN: 1066-033X; 1941-000X
• DOI: 10.1109/MCS.2008.927331

In this article we recast the Dahl, LuGre, and Maxwell-slip models as extended, generalized, or semilinear Duhem models. We classified each model as either rate independent or rate dependent. Smoothness properties of the three friction models were also considered. We then studied the hysteresis induced by friction in a single-degree-of-freedom system. The resulting system was modeled as a linear system with Duhem feedback. For each friction model, we computed the corresponding hysteresis map. Next, we developed a DC servo motor testbed and performed motion experiments. We then modeled the testbed dynamics and simulated the system using all three friction models. By comparing the simulated and experimental results, it was found that the LuGre model provides the best model of the gearbox friction characteristics. A manual tuning approach was used to determine parameters that model the friction in the DC motor.