Extended friction model of a hydraulic actuated system

The main contribution of this paper is an experimental validation and comparison of three different friction models for an electro-hydraulic servo system. The first is the well-kn own LuGre model which incorporates dynamic friction effects. The second model is based on a relatively recent publication by Yanada in 2008 [6], which incorporates liquid film thickness in the servo valve. The third model is a new contribution presented in this paper, where valve underlap and mass acceleration are combined with the LuGre model. The experimental results show that for hydraulic systems, the film thickness model is an improvement over the LuGre model, while the new model presented in this paper is an improvement over both the LuGre and the film thickness models. An accurate friction model is an important tool for reliability engineers when distinguishing maintenance related degradation from dynamic effects.