Differential model of friction based on bristle model and phase-transition theory

Abstract

For high-precision position and angle control in robots, it is essential to compensate for the hysteretic behaviour caused by friction when the motion direction is reversed. An accurate friction model which is suitable for control system analysis and implementation is highly desirable. A differential model is proposed in the current paper for the modelling of hysteresis effects caused by friction phenomena. The model is constructed by employing a phenomenological phase-transition theory to mimic the friction mechanism. The bristle friction mechanism is adapted. The switching between static and dynamic friction is regarded as a reversible phase-transition phenomenon, which could be characterized by the local minima of a non-convex potential energy function. The Stribeck effect and the hysteretic relation between friction and velocity are modelled by a nonlinear ordinary differential equation. The comparison of the numerical simulation results and existing experimental friction data are presented. It is illustrated that the friction hysteresis loops are well captured, the capability of the proposed model is verified.

Keywords

Friction hysteresis loops differential model phase-transition theory robotic drive

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