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

Volume

50

Issue

11

fYear

2005

Firstpage

1883

Lastpage

1887

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;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2005.858676

Filename

1532426