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1、MCmTP8-16:20InF,ushu,CfluJa.IMDynamicFrictionModelsandControlDesignC.CanudasdeWit,H.Olsson*,K.J.Astr6m*andP.LischinskyLaboratoired'AutomatiquedeGrenoble*DepartmentofAutomaticControlURACNRS228,ENSIEG-INPGLundInstituteofTechnologyB.P.46,38402,Grenoble,FranceBox118,S-22100Lund,Swedencanudas@lag.gr
2、enet.fr,pabloOlag.grenetfrhenrikOcontrol.lth.se,kjaODcontrol.lth.seAbstractredictsafrictionallagbetweenvelocityreversalsandadstohysterisloops.However,itdoesnotincludeInthispaperweproposetwonewdynamicfrictiontheStrbeckefectandthereforeitisnotabletoex-modelsthatincludemostoftherelevantpropertiesa
3、ctlypredictthecontactforcesduringthestick-slipthatfrictionhasbeenobservedtohave(Stribecke-phase.In(2],theauthorshaveproposedasecondor-fect,hystee_sbehavior,sping-likecharacteriiinderDahlmodelusinglinearspaceinvariant(LSI)de-stictionandstick-slipregLme).Propertiesofthesescriptions.Thesecondorder
4、LSIDahlmodelintendmodelsthatarerelevanttocontroldesignarestudied.toemulatetheStribeckphenomenonbyproducinganInparticularweanalysethedissipativepropertiesofovershootintheresponseofthefrictionforces,butthemodels.Newcontroliesareinvestigatedalsoannihilatesthedissipativepropertiesofthefirsandstabil
5、ityresultsareprtedorderDahlmodel.OneofthemodelsproposedinthispaperisamodificationofthefirstorderDahlmodelwhichincludetheStribecktermwithoutincreasingthesystemstatedimension.1IntroductionTheothermodelproposedhere,isbasedonseparatedescriptionsofstictionanddynamicfriction.Stiction,Frictionisanimpo
6、rtantaspectofmanycontrolsyswhichiscausedbytheinteractionofasperitiesonthetems,highqualityservomechanisaswellassimpletwosurfacesincontact,isdescribedasaprig-likepneumaticandhydraulicsyst.Failuretoaccountbehavior,anddynamicfriction,causedbythelubri-fortheeffectsoffrictioncleadtotrackingerrorscati
7、on,isdescribedwithclassicalmodels.Thetotalandoscillations.Controlstrategiesthatintendtocom-frictionforceisthenaweightedsumofthetwofrictionpensatfortheeffectsoffictionwithoutresortingtotypes.Theweightingfactorisadynamicvariablethat
