Relevant bibliographies by topics / LuGre friction model

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'LuGre friction model'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

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Journal articles on the topic "LuGre friction model"

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Do, Nguyen B., Aldo A. Ferri, and Olivier A. Bauchau. "Efficient Simulation of a Dynamic System with LuGre Friction." Journal of Computational and Nonlinear Dynamics 2, no. 4 (March 18, 2007): 281–89. http://dx.doi.org/10.1115/1.2754304.

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Friction is a difficult phenomenon to model and simulate. One promising friction model is the LuGre model, which captures key frictional behavior from experiments and from other friction models. While displaying many modeling advantages, the LuGre model of friction can result in numerically stiff system dynamics. In particular, the LuGre friction model exhibits very slow dynamics during periods of sticking and very fast dynamics during periods of slip. This paper investigates the best simulation strategies for application to dynamic systems with LuGre friction. Several simulation strategies are applied including the explicit Runge–Kutta, implicit Trapezoidal, and implicit Radau-IIA schemes. It was found that both the Runge–Kutta and Radau-IIA methods performed well in simulating the system. The Runge–Kutta method had better accuracy, but the Radau-IIA method required less integration steps.
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Johanastrom, Karl, and Carlos Canudas-de-Wit. "Revisiting the LuGre friction model." IEEE Control Systems 28, no. 6 (December 2008): 101–14. http://dx.doi.org/10.1109/mcs.2008.929425.

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Freidovich, Leonid, Anders Robertsson, Anton Shiriaev, and Rolf Johansson. "LuGre-Model-Based Friction Compensation." IEEE Transactions on Control Systems Technology 18, no. 1 (January 2010): 194–200. http://dx.doi.org/10.1109/tcst.2008.2010501.

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Zheng, Ya Qing. "Parameter Identification of LuGre Friction Model for Robot Joints." Advanced Materials Research 479-481 (February 2012): 1084–90. http://dx.doi.org/10.4028/www.scientific.net/amr.479-481.1084.

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The LuGre friction model well captures most of the friction behavior, but it was very difficult to identify the parameters of the LuGre model. The LuGre friction model, theory of static and dynamic parameters identification of the LuGre model as well as the algorithm based on particle swarm optimization are summarized according to the previous work. Then the programs for the static and dynamic parameters identification are made and analyzed in the environment of Matlab software in detail, and the identification results are given. The work mentioned above will lay the theoretical foundation for the future experimental validations and provide the detailed models, algorithms and programs for the corresponding research issues.
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Rajapakshe, M. P., M. Gunaratne, and A. K. Kaw. "Evaluation of LuGre Tire Friction Model with Measured Data on Multiple Pavement Surfaces." Tire Science and Technology 38, no. 3 (September 1, 2010): 213–27. http://dx.doi.org/10.2346/1.3481671.

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Abstract Accurate modeling of tire/pavement friction phenomena is of utmost importance in many applications such as vehicle braking control and frictional evaluation of pavements. LuGre tire friction model is a model which is used for this purpose by estimating its parameters using measured pavement friction data. In this investigation, LuGre model parameters were estimated using field data collected by a standard pavement friction measuring device (Locked Wheel Skid Trailer-ASTM E 274) at a group of pavements with different surface friction properties. Adequacy of the model to predict measured friction data from the device was statistically evaluated and the accuracy of estimated model parameters was determined. The results show the potential of this model to facilitate frictional evaluation of pavements using dynamic friction measuring equipment.
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Krasmik, Viktor, and Josef Schlattmann. "An extended LuGre friction model incorporating frictional aging." PAMM 16, no. 1 (October 2016): 283–84. http://dx.doi.org/10.1002/pamm.201610130.

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Liu, Y. F., J. Li, Z. M. Zhang, X. H. Hu, and W. J. Zhang. "Experimental comparison of five friction models on the same test-bed of the micro stick-slip motion system." Mechanical Sciences 6, no. 1 (March 6, 2015): 15–28. http://dx.doi.org/10.5194/ms-6-15-2015.

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Abstract. The micro stick-slip motion systems, such as piezoelectric stick-slip actuators (PE-SSAs), can provide high resolution motions yet with a long motion range. In these systems, friction force plays an active role. Although numerous friction models have been developed for the control of micro motion systems, behaviors of these models in micro stick-slip motion systems are not well understood. This study (1) gives a survey of the basic friction models and (2) tests and compares 5 friction models in the literature, including Coulomb friction model, Stribeck friction model, Dahl model, LuGre model, and the elastoplastic friction model on the same test-bed (i.e. the PE-SSA system). The experiments and simulations were done and the reasons for the difference in the performance of these models were investigated. The study concluded that for the micro stick-slip motion system, (1) Stribeck model, Dahl model and LuGre model all work, but LuGre model has the best accuracy and (2) Coulomb friction model and the elastoplastic model does not work. The study provides contributions to motion control systems with friction, especially for micro stick-slip or step motion systems as well as general micro-motion systems.
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Liu, Bai Xi, and Hong Zhao Liu. "Dynamic Analysis of the Sucker-Rod Pumping System of Deviated Well Based on LuGre Friction Model." Advanced Materials Research 139-141 (October 2010): 2346–49. http://dx.doi.org/10.4028/www.scientific.net/amr.139-141.2346.

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Based on the LuGre friction model, the nonlinear dynamic characteristic of a sucker-rod pumping system of deviated well is simulated. Firstly, the LuGre friction model is introduced, and the values of its six model parameters, which satisfy the engineering’s needs, are obtained according to handbook and computation. Then, the vibration of the rod of sucker-rod pumping system is regarded as an axial vibration of multi-segment flexible rod. The loads analysis of rod element is accomplished by means of the finite element method, and recurrence formulas of load and elastic deformation are derived through the finite difference method. The boundary and initial conditions of the load and deformation are evaluated. In the end, a numerical example is given, where a comparison between the elastic deformation of pumping piston obtained based on LuGre friction model and that obtained based on classical Coulomb friction model is made to show that the LuGre friction model describe the friction of sucker-rod pumping system better.
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XIANG, Hongbiao. "Adaptive Friction Compensation Based on LuGre Model." Journal of Mechanical Engineering 48, no. 17 (2012): 70. http://dx.doi.org/10.3901/jme.2012.12.070.

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Jiménez, René, and Luis Álvarez-Icaza. "LuGre friction model for a magnetorheological damper." Structural Control and Health Monitoring 12, no. 1 (October 11, 2004): 91–116. http://dx.doi.org/10.1002/stc.58.

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Dissertations / Theses on the topic "LuGre friction model"

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Do, Nguyen Ba. "Modeling of Frictional Contact Conditions in Structures." Thesis, Georgia Institute of Technology, 2005. http://hdl.handle.net/1853/7123.

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This thesis explores two aspects of modeling the behavior of joint friction in structures. The first aspect deals with the accurate and efficient simulation of a simple system that incorporates the LuGre friction law. Energy transfer and dissipation in a structural joint model is the second topic of this thesis. It is hypothesized that friction could serve to pump energy from one frequency to higher frequencies where it might be dissipated more quickly. Motivation for this study stems from the need to have accurate models of high-precision space structures. Because friction at connecting joints plays a major role in the damping capacity of the structure, a good understanding of this mechanism is necessary to predict the vibratory response and enhance the energy dissipation of the structure. Simulation results of a dynamic system with LuGre friction show that the system is relatively well-conditioned when the slip velocity is small, and ill-conditioned for large slip velocities. Furthermore, the most efficient numerical method to simulate this system is determined to be an implicit integration scheme. To study the energy transfer and dissipation, two models of a jointed structure with friction are considered. Results from the steady-state forced responses of the two structural systems indicate that friction converted low frequency, single harmonic excitation to multi-harmonic response through internal resonances. However, differences in energy dissipation results between the models show that the response of a frictional system is highly sensitive to system parameters and friction laws. Conclusions and suggestions for future research are also discussed.
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Sun, Yun-Hsiang. "Stability of controlled mechanical system with parametric uncertainties in a realistic friction model." ASME, 2015. http://hdl.handle.net/1993/31633.

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Friction compensation is challenging but imperative for control engineers. For high-performance engineering systems, a friction-model-based controller is typically required to accommodate the nonlinearities arisen from the friction model employed. It is well known that the parameters of the friction model used in the friction compensation are nearly impossible to be accurately identified. Therefore, the objective of this research is to study the effect of these parametric uncertainties on the stability of a set-point position control system. With the above goal in mind, a variety of aspects are investigated in this work. Firstly, several common friction features and friction models are surveyed to provide background knowledge which helps select the friction model with the highest accuracy for our study. Secondly, an experimental setup is proposed and fabricated to validate the levels of accuracy given by the candidate friction models. The comparisons between the numerical and experimental results confirm that the LuGre friction model is the best approximation of the observed friction behaviours among all models selected. Moreover, a series of profound discussions addressing the relation between the candidate models’ structures and their numerical friction feature predictions are provided and followed by a summary table that recapitulates the properties of the candidate friction models. Last but not least, the state space models of the proposed setup formulated by the improved version of the LuGre model and the two controllers of interest, namely input-output linearization controller and nominal characteristic trajectory following (NCTF) controller, are derived for the stability analysis under the parametric uncertainties. Two parameters in the friction model used, σ_0 and σ_1, are perturbed for the stability analysis in which the results applying the concept of Lyapunov exponents (LEs) clearly illustrate the significant effect of the varying σ_0 and σ_1 values on the system stability. The effect of parametric uncertainties can depend quite significantly on the incorporated controller, and the stability results obtained here are applicable to the design and analysis of other systems that are inherently similar to our setup. The stability analysis conducted is this work is recommended for other control systems to avoid unwanted qualitative behaviours under parametric perturbations.
October 2016
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Längkvist, Martin. "Online Identification of Friction Coefficients in an Industrial Robot." Thesis, Linköping University, Department of Electrical Engineering, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-19269.

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All mechanical systems with moving parts are affected by friction, including industrial robots. Being able to design an accurate friction model would further increase the performance of todays robots. Friction is a complex dynamic phenomena that is constantly changing depending on the state and environment of the robot. It is therefore beneficial to update the parameters of the friction model online. An estimate of the friction will be made using the feedback control signal with the help of a feedforward control scheme in a two axis simulation setup. The friction estimate is then used for an offline identification of three friction model parameters in a static Lugre friction model. Improvements on the identification will be done by introducing some shut-off rules that will improve the estimate. The normalized least mean square method (NLMS) will then be used to update the parameters online. A simulation of friction compensation with a fixed friction model, and with an adaptive friction model will be studied. The method will also be simulated using experimental data taken from a real industrial robot.

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Wondimu, Nahom Abebe. "SIMULATED AND EXPERIMENTAL SLIDING MODE CONTROL OF A HYDRAULIC POSITIONING SYSTEM." University of Akron / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=akron1145419922.

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Rajapakshe, Madhura Priyanga Nishshanke. "Physically Meaningful Harmonization of Tire/Pavement Friction Measurement Devices." Scholar Commons, 2011. http://scholarcommons.usf.edu/etd/3303.

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Accurate characterization and evaluation of tire/pavement friction is critical in assuring runway and highway safety. Historically, Pavement Friction Measurement Devices (PFMDs) employing different measuring mechanisms have been used to evaluate tire/pavement friction. They yield significantly disparate friction coefficients under the same contact conditions. Currently, an empirically developed data harmonization method based on a reference device (Dynamic Friction Tester (DFT)) is used in an attempt to overcome the disparities between the measurements using various different PFMDs. However, this method, which has been standardized by the American Society for Testing and Materials (ASTM E1960), has been criticized for its inconsistency by researchers and runway/highway operations personnel. The objective of this dissertation research was to develop a systematic and physically intuitive harmonization method for PFMDs that will improve the comparability of their data. As a foundation for such a harmonization, the LuGre tire model that employs physically meaningful parameters to represent the main attributes of tire/pavement friction was evaluated and validated. Measurements of tire/pavement friction by three widely used PFMDs; Locked Wheel Skid Trailer (LWST), Runway Friction Tester (RFT) and DFT, were accurately predicted using nonlinear optimization of LuGre model parameters. The LuGre model was found to be superior compared to the model used in the current ASTM E1960 standardization procedure for predicting PFMD measurements. A sensitivity analysis was performed to identify the relative significance of the LuGre model parameters in characterizing tire/pavement friction, and to study the effects of variation of those parameters on predicted frictional behavior. A set of laboratory tire experiments was designed and performed to validate the physical significance of LuGre tire model parameters and to study how they behave under typical load, inflation pressure, excitation frequency, and amplitude conditions. An empirical method was developed to accommodate the effects of water film thickness on tire/pavement friction in the LuGre model. The results of the sensitivity analysis and the experiments to directly estimate the model parameters were used to identify and quantify appropriate modifications to the measurement mechanisms of PFMDs that can be introduced to improve the comparability of their results. Friction experiments performed after introducing such modifications to the LWST showed an average reduction of 20% in the deviations between the results of LWST and RFT measurements. The research carried out in this dissertation is significant because it: (i) identified the deficiencies in the current method for harmonizing PFMD measurements and the underlying reasons for these deficiencies, (ii) emphasized the importance of a standardization approach that regulates the physical condition of PFMDs, in order to achieve universal comparability of tire/pavement friction measurements, (iii) validated that the LuGre tire model is a tire/pavement friction model capable of facilitating a better standardization approach, and, (iv) initialized the development of a physically meaningful harmonization procedure for PFMDs.
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Heinze, Alexander. "Modelling, simulation and control of a hydraulic crane." Thesis, Växjö University, School of Technology and Design, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:vxu:diva-1932.

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The objective of this thesis is to develop a model that represents the dynamics of a hydraulically operated forestry crane. The model was derived with the traditional Euler-Lagrange formalism and considers the crane mechanics, three double-acting hydraulic cylinders and the valve control unit. On the basis of the derived model we reproduced the entire crane model in MATLAB in order to run simulations herewith. This gave us the possibility to do parameter changes for further studies of the crane in motion.

Another major goal within the thesis work was to estimate cylinder friction of the hydraulic actuators. We built up a test rig and used double-acting cylinders for determing their frictional behaviour. For this, we ran open-loop experiments in order to create velocity-friction maps that represented the static friction force of the cylinders. In this concern, we varied system pressure and cylinder load to study their influence on the friction force. By means of the derived static friction maps we approached the cylinder’s dynamic friction behaviour and applied both step and ramp control inputs to examine the spring-damping characteristics of the microspoic bristles in the contacting area. The dynamic friction experiments have been exerted in the fashion of the LuGre model. As a result we acquired different nominal friction parameters that we necessarily used to develope adequate friction models.

A third objective of this thesis was to establish a crane-tip control. Instead of a traditional control, providing a direct relationship between joystick input and cylinder extension, the focus was to build up a control for the end-effector’s trajectory in a two-dimensional frame. This could be achieved by using inverse kinematics in order to determine the required joint angles that corresponded to the desired position of the crane-tip.

The work also contains a CD including all developed MATLAB models that have been written within this project.

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Sobczyk, Sobrinho Mario Roland. "Controle em cascata e a estrutura variável com adaptação de parâmetros e compensação de atrito de um servoposicionador pneumático." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2009. http://hdl.handle.net/10183/17563.

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Este trabalho discute o problema do controle preciso do seguimento de trajetórias de um servoposicionador pneumático. Um modelo matemático para o servoposicionador pneumático é apresentado, com atenção especial sendo dada à modelagem dos efeitos do atrito. Para a representação desses efeitos, é proposta uma modificação da estrutura matemática de um modelo de atrito amplamente utilizado no contexto dos algoritmos de controle em tempo real de servomecanismos (o modelo LuGre). A validade da aproximação proposta é justificada por meio de argumentos tanto analíticos como baseados em simulações. Com base no modelo para o atrito resultante da modificação proposta, apresenta-se um novo algoritmo de controle para o servoposicionador pneumático. Esse algoritmo é desenvolvido de acordo com a metodologia do controle em cascata, associada à técnica do controle a estrutura variável, sendo dotado de um esquema de compensação adaptativa dos efeitos do atrito e das forças externas aplicadas ao sistema. Uma análise de estabilidade completa é realizada para o sistema em malha fechada, onde são estabelecidas condições suficientes para que seja assegurada a convergência assintótica dos erros de seguimento para zero e dos parâmetros estimados a valores limitados. Também é apresentada uma análise de robustez do sistema controlado frente a incertezas nos parâmetros do modelo matemático do mesmo. O controlador proposto é avaliado por meio de testes por simulação e por aplicação a uma bancada experimental.
This work discusses the problem of the precise control of the trajectory tracking executed by a pneumatic positioning system. A mathematical model of the pneumatic positioning system is presented, with special emphasis given to the modeling of friction effects. For representing such effects, it is proposed a modification in the mathematical structure of a friction model that is widely employed in the context of the real-time control of servomechanisms (the LuGre model). The validity of the proposed approximation is justified by means of analytical arguments as well as simulation results. Based on the friction model that results from the proposed modification, a new control algorithm to be applied to the pneumatic positioning system is presented. Such algorithm is developed according to the cascade methodology, in association with the variable structure control technique and equipped with an adaptive compensation scheme of the effects of friction and external forces applied to the system. A complete stability analysis of the closed loop system is developed, and sufficient conditions are determined so that the asymptotic convergence of the tracking errors of the system to zero and of the estimated parameters to limited values is ensured. The robustness properties of the controlled system with respect to parametric uncertainties in its mathematical model are also analyzed. The performance of the controller is studied by means of simulation and experimental tests.
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Yamashita, Hiroki. "Flexible multibody dynamics approach for tire dynamics simulation." Diss., University of Iowa, 2016. https://ir.uiowa.edu/etd/2297.

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The objective of this study is to develop a high-fidelity physics-based flexible tire model that can be fully integrated into multibody dynamics computer algorithms for use in on-road and off-road vehicle dynamics simulation without ad-hoc co-simulation techniques. Despite the fact detailed finite element tire models using explicit finite element software have been widely utilized for structural design of tires by tire manufactures, it is recognized in the tire industry that existing state-of-the-art explicit finite element tire models are not capable of predicting the transient tire force characteristics accurately under severe vehicle maneuvering conditions due to the numerical instability that is essentially inevitable for explicit finite element procedures for severe loading scenarios and the lack of transient (dynamic) tire friction model suited for FE tire models. Furthermore, to integrate the deformable tire models into multibody full vehicle simulation, co-simulation technique could be an option for commercial software. However, there exist various challenges in co-simulation for the transient vehicle maneuvering simulation in terms of numerical stability and computational efficiency. The transient tire dynamics involves rapid changes in contact forces due to the abrupt braking and steering input, thus use of co-simulation requires very small step size to ensure the numerical stability and energy balance between two separate simulation using different solvers. In order to address these essential and challenging issues on the high-fidelity flexible tire model suited for multibody vehicle dynamics simulation, a physics-based tire model using the flexible multibody dynamics approach is proposed in this study. To this end, a continuum mechanics based shear deformable laminated composite shell element is developed based on the finite element absolute nodal coordinate formulation for modeling the complex fiber reinforced rubber tire structure. The assumed natural strain (ANS) and enhanced assumed strain (EAS) approaches are introduced for alleviating element lockings exhibited in the element. Use of the concept of the absolute nodal coordinate formulation leads to various advantages for tire dynamics simulation in that (1) constant mass matrix can be obtained for fully nonlinear dynamics simulation; (2) exact modeling of rigid body motion is ensured when strains are zero; and (3) non-incremental solution procedure utilized in the general multibody dynamics computer algorithm can be directly applied without specialized updating schemes for finite rotations. Using the proposed shear deformable laminated composite shell element, a physics-based flexible tire model is developed. To account for the transient tire friction characteristics including the friction-induced hysteresis that appears in severe maneuvering conditions, the distributed parameter LuGre tire friction model is integrated into the flexible tire model. To this end, the contact patch predicted by the structural tire model is discretized into small strips across the tire width, and then each strip is further discretized into small elements to convert the partial differential equations of the LuGre tire friction model to the set of first-order ordinary differential equations. By doing so, the structural deformation of the flexible tire model and the LuGre tire friction force model are dynamically coupled in the final form of the equations, and these equations are integrated simultaneously forward in time at every time step. Furthermore, a systematic and automated procedure for parameter identification of LuGre tire friction model is developed. Since several fitting parameters are introduced to account for the nonlinear friction characteristics, the correlation of the model parameters with physical quantities are not clear, making the parameter identification of the LuGre tire friction model difficult. In the procedure developed in this study, friction parameters in terms of slip-dependent friction characteristics and adhesion parameter are estimated separately, and then all the parameters are identified using the nonlinear least squares fitting. Furthermore, the modified friction characteristic curve function is proposed for wet road conditions, in which the linear decay in friction is exhibited in the large slip velocity range. It is shown that use of the proposed numerical procedure leads to an accurate prediction of the LuGre model parameters for measured tire force characteristics under various loading and speed conditions. Furthermore, the fundamental tire properties including the load-deflection curve, the contact patch lengths, contact pressure distributions, and natural frequencies are validated against the test data. Several numerical examples for hard braking and cornering simulation are presented to demonstrate capabilities of the physics-based flexible tire model developed in this study. Finally, the physics-based flexible tire model is further extended for application to off-road mobility simulation. To this end, a locking-free 9-node brick element with the curvature coordinates at the center node is developed and justified for use in modeling a continuum soil with the capped Drucker-Prager failure criterion. Multiplicative finite strain plasticity theory is utilized to consider the large soil deformation exhibited in the tire/soil interaction simulation. In order to identify soil parameters including cohesion and friction angle, the triaxial soil test is conducted. Using the soil parameters identified including the plastic hardening parameters by the compression soil test, the continuum soil model developed is validated against the test data. Use of the high-fidelity physics-based tire/soil simulation model in off-road mobility simulation, however, leads to a very large computational model to consider a wide area of terrains. Thus, the computational cost dramatically increases as the size of the soil model increases. To address this issue, the component soil model is proposed such that soil elements far behind the tire can be removed from the equations of motion sequentially, and then new soil elements are added to the portion that the tire is heading to. That is, the soil behavior only in the vicinity of the rolling tire is solved in order to reduce the overall model dimensionality associated with the finite element soil model. It is shown that use of the component soil model leads to a significant reduction in computational time while ensuring the accuracy, making the use of the physics-based deformable tire/soil simulation capability feasible in off-road mobility simulation.
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Stell, Brandon. "Thermal-Fluid Dynamic Model of Luge Steels." DigitalCommons@CalPoly, 2017. https://digitalcommons.calpoly.edu/theses/1793.

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Luge is an Olympic sport in which athletes ride feet-first on sleds down an ice-covered track. Competitors spring from the starting position and accelerate their sled by paddling with spiked gloves against the ice surface. Once the Luger leaves the starting section, their downhill motion is solely propelled by the effects of gravity. Athletes compete, one after the other, for the fastest time. Runs can differ by as little as a thousandth of a second, meaning that every minor sled adjustment, change of line choice, and shift of body position is critical. In the past, the sport of Luge has progressed through a series of steps involving trial and error, where changes to the sled and strategy rely more on intuition and race results, rather than in-depth, mathematical analysis. In an effort to try and improve track times for the US Olympic Luge team, a track and driver model is in development in order to simulate a sled going down the track. By doing this, the hope is to be able to pinpoint areas of possible improvement to the sled and see how adjustments can affect the optimum line down the track. A part of this model, which is the focus of the following paper, is the inclusion of an analysis to identify the frictional relationship between the ice surface and the steels of the sled. The model created of the ice-steel interaction was put in the form of a function file, which includes inputs of down force, ice temperature, sled velocity, and steel geometry. Creation of this model and completion of a set of parametric studies allowed for further understanding the interaction between the sled steels and ice surface, specifically applying to the sport of Luge. The model predicts for lower temperatures that at slower sled velocities the coefficient of friction is greater compared to faster sled velocities. This relationship inverts as the ice temperature moves closer to the melting temperature. A sharper steel edge radius was found to be beneficial in lowering the coefficient of friction at lower sled velocities. The sharp edge radius friction benefit decreases as the sled speed increases and is predicted to actually increase friction slightly compared to duller blades at greater velocities. A flat as possible rocker radius lowers friction at all sled velocities, as well as in banked turns where two contact patches are possible. On curves, the pressure on the steel is increased due to the effects of centripetal accelerations. A 1 g versus 5 g normal loading, experienced on the last turns of the track, increases the coefficient of friction on the blade, but also increases the allowable lateral force on the sled before side slip occurs. Understanding the relationships of these parameters, along with the information that may be gained from the driver model, may prove to be useful in choosing optimum sled characteristics and line choice.
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Huang, Cong-Sheng, and 黃琮昇. "Design the High-speed Micro-motion Controller for the 3C Industry with the LuGre Friction Model." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/03298688778874177155.

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碩士
國立交通大學
電控工程研究所
101
Micro-motion control in the 3C industry is operated in the relatively high-frequency range compared with traditional CNC processing. The control commands are difficult to precisely follow mainly because the motion command is relatively small and it passes through zero velocity frequently to cause the problem of friction. Traditional static friction compensation, which is obtained from a constant speed operation, is suitable only when the motion command is slowly-varying in a low frequency range. Experimental results indicate that the axis is nearly stop by applying linear controllers if the motion command is small. In this Thesis, the LuGre model is adopted and a practical and systematic approach to obtain the coefficients for the LuGre model is proposed. The DSP microcontroller TMS320F28335 is adopted for the AC servo driver of permanent synchronous motor (PMSM) in this study. All the static friction compensator, dynamic friction compensator, adaptive disturbance observer (DOB) are integrated and realized in this servo driver. By applying the present controller with the LuGre model, the bandwidth of the velocity loop is improved from 394Hz to 663.7Hz, and the position loop is improved from 9.5 Hz to 113.8 Hz, separately. The LuGre model has also been realized on DYNA 1007 CNC machine and results also show that the tracking error is improved 67.5% in RMS and the tracking peak error improvement is 72.0%.
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Book chapters on the topic "LuGre friction model"

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Carneiro, João Falcão, and Fernando Gomes de Almeida. "LuGre Friction Model: Application to a Pneumatic Actuated System." In Lecture Notes in Electrical Engineering, 459–68. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-10380-8_44.

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Wei, Lixin, Xia Wang, and Hongrui Wang. "Robust Friction Compensation for Servo System Based on LuGre Model with Uncertain Static Parameters." In Lecture Notes in Computer Science, 206–11. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/978-3-540-28648-6_32.

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Jastrzębski, Marcin, and Jacek Kabziński. "Robustness of Adaptive Motion Control Against Fuzzy Approximation of LuGre Multi-Source Friction Model." In Advances in Intelligent Systems and Computing, 388–97. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-60699-6_38.

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Na, Jing, Qiang Chen, and Xuemei Ren. "Adaptive Dynamic Surface Control of Two-Inertia Systems With LuGre Friction Model." In Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics, 37–56. Elsevier, 2018. http://dx.doi.org/10.1016/b978-0-12-813683-6.00005-2.

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Na, Jing, Qiang Chen, and Xuemei Ren. "Adaptive Sliding Mode Control of Non-linear Servo Systems With LuGre Friction Model." In Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics, 19–36. Elsevier, 2018. http://dx.doi.org/10.1016/b978-0-12-813683-6.00004-0.

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Conference papers on the topic "LuGre friction model"

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Freidovich, Leonid, Anders Robertsson, Anton Shiriaev, and Rolf Johansson. "Friction compensation based on LuGre model." In Proceedings of the 45th IEEE Conference on Decision and Control. IEEE, 2006. http://dx.doi.org/10.1109/cdc.2006.376780.

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Matsutani, Yusuke, and Hiroyuki Sugiyama. "On the Parameter Identification of LuGre Tire Friction Model." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-13400.

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In this investigation, use of the LuGre tire friction model for the transient brake force analysis is discussed. In particular, a numerical procedure for estimating parameters for the LuGre tire force model is developed. The parameters of the distributed LuGre model are identified such that the error function of tire forces obtained using the model and experiment can be minimized. Friction parameters used in the LuGre tire force model are estimated using the characteristics curve of the friction coefficient as a function of the slip velocity first, and then the adhesion parameter is estimated using the slope around the zero slip ratio using the least square fitting. Iterative solution procedures are then employed to identify the overall model parameters using the initial estimates provided. It is demonstrated that use of the proposed numerical procedure leads to accurate prediction of the LuGre model parameters for various loading and speed conditions. Furthermore, it is demonstrated that the decrease in the peak of the brake force as the increase in the running speed can be well predicted using the transient distributed LuGre tire force model with model parameters predicated using the proposed procedure.
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Khodabakhsh, M., G. R. Vossoughi, and A. Kamali. "Modeling of a Planar Microrobot Using LuGre Friction Model." In ASME 2010 International Mechanical Engineering Congress and Exposition. ASMEDC, 2010. http://dx.doi.org/10.1115/imece2010-38782.

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Microrobots design and manufacturing has been one of interesting fields in robotics in recent years. Various legged designs have been proposed in the literature. All designs rely on friction for locomotion. In this paper the dynamic model of a planar two-legged microrobot is presented using LuGre friction model. LuGre friction model is more realistic model, reducing uncertainties of the microrobot dynamic model, providing a better prediction for both design and control applications. The proposed microrobot is driven by a piezoelectric actuator mounted between centers of two legs. One of important issues in modeling of microrobots is to determine the friction force between robot and environment. The LuGre friction model which is a more realistic and comprehensive model for friction is used to determine the friction force between legs and horizontal surface. The results of the LuGre friction based model are compared with those of the model which uses the Coulomb friction. This comparison shows effectiveness of using the LuGre friction model in predicting the dynamic behavior in these types of robots.
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Padthe, A. K., JinHyoung Oh, and D. S. Bernstein. "On the LuGre model and friction-induced hysteresis." In 2006 American Control Conference. IEEE, 2006. http://dx.doi.org/10.1109/acc.2006.1657218.

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Yi, Jingang. "On the Hybrid Physical/Dynamic Tire/Road Friction Model." In ASME 2009 Dynamic Systems and Control Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/dscc2009-2548.

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We present new development of a hybrid physical/dynamic tire/road friction model for real-time friction estimation and control. We extend the LuGre tire/road friction model by considering the physical model-based deformation distribution on the tire/road contact patch. Relationship between the physical friction model and the LuGre dynamic friction model has been built and developed. We have shown that the LuGre dynamic friction model predicts the similar deformation and stress characteristics of the physical model, and therefore the friction model parameters can be interpreted with physical meaning and estimated experimentally. We demonstrate preliminary model comparison study through the “smart tire” sensor measurements on a mobile robot platform.
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Hadji, Abdallah, and Njuki Mureithi. "Nonlinear Normal Modes and the LuGre Friction Model Parameter Identification." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-38997.

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A Hybrid friction model has recently been developed by Azizian and Mureithi [1] to simulate the general friction behavior between surfaces in contact. However, identification of the model parameters remains an unresolved problem. To identify the parameters of the friction model, the following quantities are required: contact forces (friction and impact forces), the slip velocity and displacement in the contact region. Direct measurement of these quantities is difficult. In the present work, a beam clamped at one end and simply supported with the consideration of friction effect at the other is used as a mechanical amplifier of the friction effects at the microscopic level. Using this simplified approach, the contact forces, the sliding velocity and the displacement can be indirectly obtained by measuring the beam vibration response. A new method based on nonlinear modal analysis to calculate the contact forces is developed in the present work. The method is based on the modal superposition principle and Fourier series expansion. For the harmonic balance method, two approaches were tested. The approach based on sub-harmonic forms gave the best results. Signal reconstruction made it possible to accurately identify the parameters of the hybrid friction model with a multiple step approach.
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Jafri, Firoz Ali, and David F. Thompson. "Study of Dynamic Characteristics of Friction: A Comparative Analysis of the Velocity Dependent and the LuGre Friction Model." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84533.

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In this paper, we conduct numerical analysis to study the effects of friction on the dynamic response of a single degree of freedom mechanical system. Two different friction models, the velocity dependent friction model and the LuGre friction model, have been used to model the friction interface. Bifurcation analysis has been conducted using equilibrium and limit cycle continuation methods. With system viscous damping as the bifurcation parameter, a reverse subcritical Hopf bifurcation is observed in the case of velocity dependent model. In the case of the LuGre model for the same bifurcation parameter, a reverse supercritical Hopf bifurcation is observed at lower velocities but at higher velocities it changes to a reverse subcritical Hopf bifurcation. A fold bifurcation of the limit cycles is also seen at higher velocities for the LuGre model.
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Liu, De-peng. "Parameter Identification for Lugre Friction Model using Genetic Algorithms." In 2006 International Conference on Machine Learning and Cybernetics. IEEE, 2006. http://dx.doi.org/10.1109/icmlc.2006.258506.

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Tsiotras, P., E. Velenis, and M. Sorine. "A LuGre tire friction model with exact aggregate dynamics." In Proceedings of the 2004 American Control Conference. IEEE, 2004. http://dx.doi.org/10.23919/acc.2004.1386781.

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Do, Nguyen B., Aldo A. Ferri, and Olivier Bauchau. "Efficient Simulation of a Dynamic System With LuGre Friction." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-85339.

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Friction is a difficult phenomenon to model and simulate. One promising friction model is the LuGre model, which captures key frictional behavior from experiments and from other friction laws. While displaying many modeling advantages, the LuGre model of friction can result in numerically stiff system dynamics. In particular, the LuGre friction model exhibits very slow dynamics during periods of sticking and very fast dynamics during periods of slip. This paper investigates the best simulation strategies for application to dynamic systems with LuGre friction. Several simulation strategies are applied including the explicit Runge-Kutta, implicit Trapezoidal, and implicit Radau-IIA schemes. It was found that both the Runge-Kutta and Radau-IIA methods performed well in simulating the system. The Runge-Kutta method had better accuracy, but the Radau-IIA method required less integration steps.
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