Relationship between two friction models: a singular perturbation approach

This paper establishes through a singular perturbation analysis a relation between standard simple kinetic friction models and a recently proposed dynamic friction model. Experimental results from an industrial vertical electrodischarge machining axis are shown to support the analysis. The analysis shed light on the important question of the suitability of friction models with different complexity levels for a given plant and a given control task. This question is addressed for the particular case of unidirectional motion. As a by-product, the singular perturbation analysis highlighted the mechanism responsible for a hysteresis behavior of the friction force observed experimentally at low speeds