YaBeSH Engineering and Technology Library

    • Journals
    • PaperQuest
    • YSE Standards
    • YaBeSH
    • Login
    View Item 
    •   YE&T Library
    • ASME
    • Journal of Dynamic Systems, Measurement, and Control
    • View Item
    •   YE&T Library
    • ASME
    • Journal of Dynamic Systems, Measurement, and Control
    • View Item
    • All Fields
    • Source Title
    • Year
    • Publisher
    • Title
    • Subject
    • Author
    • DOI
    • ISBN
    Advanced Search
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Archive

    Robust Nonlinear Stick-Slip Friction Compensation

    Source: Journal of Dynamic Systems, Measurement, and Control:;1991:;volume( 113 ):;issue: 004::page 639
    Author:
    S. C. Southward
    ,
    C. J. Radcliffe
    ,
    C. R. MacCluer
    DOI: 10.1115/1.2896469
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: A nonlinear compensation force for stick-slip friction is developed to supplement a proportional + derivative control law applied to a one-degree-of-freedom mechanical system. Inertial control objects acted on by stick-slip friction are common mechanical components in mechanical servo systems and the conceptual model chosen for this investigation is a mass sliding on a rough surface. The choice of a discontinuous compensation force is motivated by the requirement that the desired reference be a unique equilibrium point of the system. The stick-slip friction force, modelled with a sticking force term and a slipping force term, generates discontinuous state derivatives. A Lyapunov function is introduced to prove global asymptotic stability of the desired reference using a modification of the direct method for discontinuous systems. Stability is verified numerically as well as experimentally. The nonlinear compensation force is robust with respect to the character of the slipping force which is assumed to lie within a piecewise linear band. Exact knowledge of the static friction force levels is not required, only upper bounds for these levels. Stability and control effectiveness is verified analytically, numerically and experimentally on a laboratory test stand.
    keyword(s): Friction , Stick-slip , Force , Stability , Stiction , Servomechanisms , Surface roughness AND Equilibrium (Physics) ,
    • Download: (1.101Mb)
    • Show Full MetaData Hide Full MetaData
    • Get RIS
    • Item Order
    • Go To Publisher
    • Price: 5000 Rial
    • Statistics

      Robust Nonlinear Stick-Slip Friction Compensation

    URI
    http://yetl.yabesh.ir/yetl1/handle/yetl/108225
    Collections
    • Journal of Dynamic Systems, Measurement, and Control

    Show full item record

    contributor authorS. C. Southward
    contributor authorC. J. Radcliffe
    contributor authorC. R. MacCluer
    date accessioned2017-05-08T23:34:57Z
    date available2017-05-08T23:34:57Z
    date copyrightDecember, 1991
    date issued1991
    identifier issn0022-0434
    identifier otherJDSMAA-26176#639_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/108225
    description abstractA nonlinear compensation force for stick-slip friction is developed to supplement a proportional + derivative control law applied to a one-degree-of-freedom mechanical system. Inertial control objects acted on by stick-slip friction are common mechanical components in mechanical servo systems and the conceptual model chosen for this investigation is a mass sliding on a rough surface. The choice of a discontinuous compensation force is motivated by the requirement that the desired reference be a unique equilibrium point of the system. The stick-slip friction force, modelled with a sticking force term and a slipping force term, generates discontinuous state derivatives. A Lyapunov function is introduced to prove global asymptotic stability of the desired reference using a modification of the direct method for discontinuous systems. Stability is verified numerically as well as experimentally. The nonlinear compensation force is robust with respect to the character of the slipping force which is assumed to lie within a piecewise linear band. Exact knowledge of the static friction force levels is not required, only upper bounds for these levels. Stability and control effectiveness is verified analytically, numerically and experimentally on a laboratory test stand.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleRobust Nonlinear Stick-Slip Friction Compensation
    typeJournal Paper
    journal volume113
    journal issue4
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.2896469
    journal fristpage639
    journal lastpage645
    identifier eissn1528-9028
    keywordsFriction
    keywordsStick-slip
    keywordsForce
    keywordsStability
    keywordsStiction
    keywordsServomechanisms
    keywordsSurface roughness AND Equilibrium (Physics)
    treeJournal of Dynamic Systems, Measurement, and Control:;1991:;volume( 113 ):;issue: 004
    contenttypeFulltext
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian