Dynamic friction modeling and identification for high precision mechatronic systems

The presented work concerns a new identification algorithm for the elasto-plastic friction model. The algorithm is based on the physical effects that are described by this model. As a result there are separate experiments for the breakaway, the elastic and the plastic range containing the exact performance of the respective range. The breakaway range signifies the boundary between the elastic and the plastic range. Its linear spring damper behavior determines the elastic range whereas the Stribeck curve describes the plastic range. The exact parameters are separately calculated through specific experiments referring to their physical equivalent. The paper describes these experiments in detail. In contrast to an overall parameter identification based on an optimization to fit one measurement this paper focuses on the identification of the parameters with the best physical analogy to real friction behavior.