Title :
The generalized Maxwell-slip model: a novel model for friction Simulation and compensation
Author :
Al-Bender, Farid ; Lampaert, Vincent ; Swevers, Jan
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium
Abstract :
A novel, multistate friction model is presented, which is obtained from the Maxwell-slip model by replacing the usual Coulomb law at slip by a rate-state law. The form of the latter state equations is arrived at by comparison with a recently developed generic friction model as well as limiting behavior cases. The model is particularly suitable for quick simulation and control purposes, being both easy to implement and of high fidelity. This communication situates the model, by outlining its development background and structure, and highlights its basic characteristics.
Keywords :
compensation; force control; friction; friction compensation; friction simulation; generalized Maxwell-slip model; generic friction model; mechanical systems; rate-state law; state equations; Communication system control; Control system synthesis; Control systems; Electromechanical systems; Friction; Geophysics; Hysteresis; Maxwell equations; Mechanical systems; Sliding mode control; Friction modeling; friction compensation; mechanical systems; presliding regime; sliding regime;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2005.858676
