An integrated friction model structure with improved preslidingbehavior for accurate friction compensation

Presents a dynamical friction model structure which allows accurate modeling both in the sliding and the presliding regimes. Transition between these two regimes is accomplished without a switching function. The model incorporates a hysteresis function with nonlocal memory and arbitrary transition curves. These last aspects prove essential for modeling presliding friction that is encountered in real physical situations. The model as a whole can also handle the Stribeck effect and stick-slip behavior as has been demonstrated by validation on a KUKA IR 361 robot. In this sense, this model can be considered as more complete in comparison with others found in the literature. The general friction model allows modeling of individual friction systems through the identification of a set of parameters that determine the complete behavior of the system. In this way, the model structure has been used to identify the friction behavior of a linear slide as well as that of the above mentioned KUKA robot. The results of the latter identification have been consequently used for feedforward friction compensation to obtain the most accurate tracking     

Tracking control of a piezo‐actuated stage based on a frictional model

The tracking control accuracy of a piezoelectric actuator (PEA) is limited due to the actuator's inherent hysteretic nonlinearity. Direct drive of PEA on a positioning stage with friction force will cause control problems. An approximated dynamic model of PEA with consideration of friction force is novel synthesized for control. This model is based on a second‐order transfer function with two parameterization terms. The first time delay term consists of the hysteresis of piezo effect combined with frictional force lag with varying velocity. The second term is comprised of both presliding and sliding regimes. The H‐infinite tracking controller is designed to compensate for the structural uncertainty associated with time delay and the unstructured frictional force in the PEA stage. Iterative Learning Control is implemented to reduce the unmodeled repetitive error by a factor of 20. Numerical simulations and experimental tests consolidate the root mean square (RMS), positioning error close to the hardware reproducibility and accuracy level. Experimental results show the controlled stage can be potentially used for precise positioning. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Single state elastoplastic friction models

For control applications involving small displacements and velocities, friction modeling and compensation can be very important. In particular, the modeling of presliding displacement (motion prior to fully developed slip) can play a pivotal role. In this paper, it is shown that existing single-state friction models exhibit a nonphysical drift phenomenon which results from modeling presliding as a combination of elastic and plastic displacement. A new class of single state models is defined in which presliding is elastoplastic: under loading, frictional displacement is first purely elastic and then transitions to plastic. The new model class is demonstrated to substantially reduce drift while preserving the favorable properties of existing models (e.g., dissipativity) and to provide a comparable match to experimental data     

Single and multistate integral friction models

In this note, a single state integral friction model is first proposed, defining separately the Dahl, Stribeck, and microviscous effects. The model is based on an integral closed form solution of the Dahl model. A multistate integral friction model, accounting for the hysteresis behavior with non local memory, has been then derived, combining the Dahl and the Maxwell slip model. The accuracy of the model has been experimentally assessed in friction compensation, both in open and in closed velocity loop.     

Adaptive stabilization of first-order systems using estimates modification based on a Sylvester determinant test

This note presents an adaptive control scheme for first-order continuous-time systems subject to bounded noise and unmodelled dynamics. The estimated plant model is controllable and then the adaptive scheme is free from singularities. The estimation scheme involves the use of a relative dead zone which freezes the estimation process when the size of the prediction error is small compared to the contribution of the unmodelled dynamics. The singularities are avoided through the use of a modification of the estimated plant parameter vector so that its associated Sylvester matrix is guaranteed to be nonsingular. That property is achieved by ensuring that the absolute value of its determinant does not lie below a prefixed positive threshold. In addition, the use of a hysteresis switching function is not used for a modification of the estimates while the absence of chattering is guaranteed in the eventual case when the Sylvester determinant tends to zero. The global stability of the closed-loop system is also guaranteed.     

Adaptive Control for the Systems Preceded by Hysteresis

Hysteresis hinders the effectiveness of smart materials in sensors and actuators. It is a challenging task to control the systems with hysteresis. This note discusses the adaptive control for discrete time linear dynamical systems preceded with hysteresis described by the Prandtl-Ishlinskii model. The time delay and the order of the linear dynamical system are assumed to be known. The contribution of the note is the fusion of the hysteresis model with adaptive control techniques without constructing the inverse hysteresis nonlinearity. Only the parameters (which are generated from the parameters of the linear system and the density function of the hysteresis) directly needed in the formulation of the controller are adaptively estimated online. The proposed control law ensures the global stability of the closed-loop system, and the output tracking error can be controlled to be as small as required by choosing the design parameters. Simulation results show the effectiveness of the proposed algorithm.     

Air-bearing surface chemical modification for low-friction head–disk interface

As a chemical modification of slider air bearing surface (ABS), fluorine ion implantation (FII) was conducted. FII treated ABS was fabricated to reduce slider surface energy, which is expected to reduce adhesion and friction force between the slider and disk. Tribological performance, such as slider flyability, was experimentally investigated. Touchdown speed, corresponds to a flying height of about 0.4 nm, was reduced by FII treatment. Slider touch-down and take-off hysteresis was also improved by reducing the adhesive force of the lubricant by fluorine-ion implantation. AE output and friction force were also reduced in the drag test. FII treated slider showed a 45% reduction of AE amplitude and 14% reduction of friction force. FII treatment was confirmed to be effective in improving slider flyability.     

行波型超声电机基于神经网络的逆模型辨识

行波型超声电机的动态特性受定子压电陶瓷迟滞和接触层非线性摩擦力的影响,表现出复杂的多值映射特征.通过引入动态迟滞逆算子,将存在于超声波电机逆系统中的多值映射在新的扩张输入空间上,转换为一一映射;然后使用神经网络建立超声波电机的逆模型,对迟滞和非线性摩擦力的影响进行补偿.所建立的模型结构简单,可以在线调整适应电机参数的非线性变化.实验仿真结果验证了该方法的有效性.     

A new model for control of systems with friction

In this paper we propose a new dynamic model for friction. The model captures most of the friction behavior that has been observed experimentally. This includes the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force. Properties of the model that are relevant to control design are investigated by analysis and simulation. New control strategies, including a friction observer, are explored, and stability results are presented     

An exponentially stable adaptive friction compensator

This note presents a novel adaptive compensation scheme for Coulomb friction in a servocontrol system. An adaptive observer for estimating the unknown Coulomb friction coefficient is also derived on the basis of the Lyapunov technique. In addition, a linearizing control law is developed to compensate for the friction force and obtain the tracking objective. The proposed adaptive compensation guarantees an exponential convergence for state errors and parameter error, and known adaptive schemes guarantee only an asymptotic (or stable) convergence. Simulation results demonstrate the effectiveness of the proposed method for a single-mass servocontrol system     

A teleoperation system for micro positioning with haptic feedback

This paper presents the research work on a 1 Degree of Freedom (DOF) macro-micro teleoperation system which enables human operator to perform complex task in micro environment such as cell insertion with the capability of haptic feedback. To reach submicron resolution, a nano-motion piezo actuator was used as the slave robot and a servo DC motor was used as the master robot. Force sensors were implemented at both ends for haptic feedback and a microscope equipped with camera was employed for real-time visual feedback. The hysteresis nonlinearity of the piezo motor was modeled using LuGre friction model and compensated for. A Sliding Mode Based Impedance Controller (SMBIC) was designed at the slave side to ensure position tracking while an impedance force controller was designed at the master side to ascertain tracking of the force. Control parameters were chosen based on Llewellyn stability criteria such that the entire system stays stable against parameter uncertainties and constant time delay. The experimental results demonstrated capability of the proposed control frameworks in desirable tracking of the position and force signals while the entire system remained stable. The results of this study can be used for complex tasks in micron environment such as cell insertion.     

汽车钢板弹簧非线性有限元分析

为在汽车动力学特性设计中准确计算汽车悬架的作用力,用HyperMesh建立钢板弹簧的有限元模型,并在钢板弹簧的接触面中添加接触单元模拟板间摩擦.利用Abaqus计算钢板弹簧刚度,考虑中心螺栓和U形螺栓的预紧力,分析不同摩擦因数对钢板弹簧迟滞特性的影响.计算结果表明该模型可用于分析考虑钢板之间摩擦作用时钢板弹簧的受力情况,探讨非线性有限元分析过程中钢板弹簧的刚度和迟滞特性.     

High-performance surface-micromachined inchworm actuator

This work demonstrates a polycrystalline silicon surface-micromachined inchworm actuator that exhibits high-performance characteristics such as large force (/spl plusmn/0.5 millinewtons), large velocity range (0 to /spl plusmn/4.4 mm/sec), large displacement range (/spl plusmn/100 microns), small step size (/spl plusmn/10, /spl plusmn/40 or /spl plusmn/100 nanometers), low power consumption (nanojoules per cycle), continuous bidirectional operation and relatively small area (600 /spl times/ 200/spl mu/m/sup 2/). An in situ load spring calibrated on a logarithmic scale from micronewtons to millinewtons, optical microscopy and Michelson interferometry are used to characterize its performance. The actuator consists of a force-amplifying plate that spans two voltage-controlled clamps, and walking is achieved by appropriately sequencing signals to these three components. In the clamps, normal force is borne by equipotential rubbing counterfaces, enabling friction to be measured against load. Using different monolayer coatings, we show that the static coefficient of friction can be changed from 0.14 to 1.04, and that it is load-independent over a broad range. We further find that the static coefficient of friction does not accurately predict the force generated by the actuator and attribute this to nanometer-scale presliding tangential deflections.     

Dynamic analysis of wind-excited truss tower with friction dampers

This paper presents a rational analytical method for determining dynamic response of wind-excited large truss towers installed with friction dampers and investigates the effectiveness of friction dampers. The analytical procedure involves two models of one truss tower: one is the two-dimensional lumped mass dynamic model and the other is the three-dimensional (3D) finite element static model. These two models are alternately used to fulfill control force transformation, displacement increment transformation, and the numerical integration of equations of motion of the coupled damper-tower system. A three-story truss structure under wind excitation is used to validate the proposed bi-model method through the comparison with a precise 3D dynamic analysis. After a satisfactory comparison, a large space steel television tower is used as an application to examine the feasibility of the bi-model method and the effectiveness of friction dampers. The case study shows that the bi-model method can efficiently compute wind-induced response of the large space television tower with friction dampers and the installation of the friction dampers of proper parameters can significantly reduce wind-induced vibration of the tower.     

Adaptive wavelet neural network control with hysteresis estimation for piezo-positioning mechanism

An adaptive wavelet neural network (AWNN) control with hysteresis estimation is proposed in this study to improve the control performance of a piezo-positioning mechanism, which is always severely deteriorated due to hysteresis effect. First, the control system configuration of the piezo-positioning mechanism is introduced. Then, a new hysteretic model by integrating a modified hysteresis friction force function is proposed to represent the dynamics of the overall piezo-positioning mechanism. According to this developed dynamics, an AWNN controller with hysteresis estimation is proposed. In the proposed AWNN controller, a wavelet neural network (WNN) with accurate approximation capability is employed to approximate the part of the unknown function in the proposed dynamics of the piezo-positioning mechanism, and a robust compensator is proposed to confront the lumped uncertainty that comprises the inevitable approximation errors due to finite number of wavelet basis functions and disturbances, optimal parameter vectors, and higher order terms in Taylor series. Moreover, adaptive learning algorithms for the online learning of the parameters of the WNN are derived based on the Lyapunov stability theorem. Finally, the command tracking performance and the robustness to external load disturbance of the proposed AWNN control system are illustrated by some experimental results.     

The Hysteresis Bouc-Wen Model, a Survey

Structural systems often show nonlinear behavior under severe excitations generated by natural hazards. In that condition, the restoring force becomes highly nonlinear showing significant hysteresis. The hereditary nature of this nonlinear restoring force indicates that the force cannot be described as a function of the instantaneous displacement and velocity. Accordingly, many hysteretic restoring force models were developed to include the time dependent nature using a set of differential equations. This survey contains a review of the past, recent developments and implementations of the Bouc-Wen model which is used extensively in modeling the hysteresis phenomenon in the dynamically excited nonlinear structures.     

Continuous-time model reference adaptive control based on weighting functions

This note presents a model reference adaptive control for a plant with unknown system degree. A continuous-time observer based on the weighting function is introduced, instead of a finite-dimensional state variable filter which needs an upper bound of the plant degree. The state is reconstructed by a sum of convolution integrals in a finite span of time.     

Modelling Bending Behaviour in Cloth Simulation Using Hysteresis

Real cloth exhibits bending effects, such as residual curvatures and permanent wrinkles. These are typically explained by bending plastic deformation due to internal friction in the fibre and yarn structure. Internal friction also gives rise to energy dissipation which significantly affects cloth dynamic behaviour. In textile research, hysteresis is used to analyse these effects, and can be modelled using complex friction terms at the fabric geometric structure level. The hysteresis loop is central to the modelling and understanding of elastic and inelastic (plastic) behaviour, and is often measured as a physical characteristic to analyse and predict fabric behaviour. However, in cloth simulation in computer graphics the use of hysteresis to capture these effects has not been reported so far. Existing approaches have typically used plasticity models for simulating plastic deformation. In this paper, we report on our investigation into experiments using a simple mathematical approximation to an ideal hysteresis loop at a high level to capture the previously mentioned effects. Fatigue weakening effects during repeated flexural deformation are also considered based on the hysteresis model. Comparisons with previous bending models and plasticity methods are provided to point out differences and advantages. The method requires only incremental extra computation time.     

Hysteresis Compensation and Adaptive Controller Design for a Piezoceramic Actuator System in Atomic Force Microscopy

This paper presents an indirect adaptive controller combined with hysteresis compensation to achieve high accuracy positioning control of piezoceramic actuators and illustrates the results with an atomic force microscope (AFM) application. A dynamic model of a piezoceramic actuator system in AFM is derived and analyzed. A feedforward controller based on the Preisach model is proposed to compensate for the nonlinear hysteresis effects. Then an indirect adaptive controller is designed to achieve desired tracking performance as well as deal with the uncompensated nonlinearity from hysteresis and the system parameter variation due to creep. Experimental results indicate that the proposed controller can significantly improve the positioning control accuracy of the piezoceramic actuator as well as achieve high image quality of the AFM system. The maximum scanning error was reduced from 2µm to 0.3µm in comparison with a proportional‐integral‐derivative (PID) controller. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Modeling identification and simulation of pneumatic actuator for VGT system

This article is aimed at the physical modeling of a pneumatic actuator for the control of Variable Geometry Turbocharger (VGT) system. These actuators possess a characteristic hysteresis, which increases with the increment in the aerodynamic force acting on the vanes of the VGT. Modeling the aerodynamic force, through cartography between turbine pressure and vanes opening angle is presented. Hysteresis phenomenon has been elaborated using dynamic friction models. Different system parameters, such as spring constant, damping coefficient and friction parameters, have been identified through experiments. The coherence between experimental results and simulations has demonstrated the effectiveness of the proposed approach.