Download or read book Dynamic Friction Measurement Modeling and Compensation for Precise Motion Control written by Simon Cohn and published by . This book was released on 1998 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, measurements of dynamic friction in a hydrodynamic journal bearing were performed for varying sinusoidal velocity excitations, loads, and lubricants. The results indicate that the friction data displays a negative slope in the mixed region of friction vs. velocity (f-v) curves, and also shows that the dynamic friction is not just a function of current velocity, but also a function of velocity history (hysteresis). These results are in agreement with previous experimental investigations by other investigators in lubricated friction. Secondly, a dynamic friction model is fully explored and partially extended to provide quantitative agreement to measured friction values. A contribution to friction modeling was made by reducing the model from a fourth to a second order equation. Parameters were determined for one lubricant and two non-nal loads, and the model output is compared to experimental data. Finally, model-based friction compensation was successfully performed. The dynamic friction model is used as a basis for velocity and position control of an apparatus with high friction by incorporating a function to constantly learn two parameters of the model. Results demonstrate the feasibility of using a rich friction model in real time, and its ability to greatly reduce the tracking errors caused by friction. This thesis was supported by the National Science Foundation under Grant MSS9215636.
Download or read book Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems written by Michael Ruderman and published by CRC Press. This book was released on 2023-09-21 with total page 68 pages. Available in PDF, EPUB and Kindle. Book excerpt: Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems comprehensively covers kinetic friction in a robotics, mechatronics, and control engineering context. Providing the theory behind kinetic friction, as well as compensation methods and practical solutions, the text is a key companion to studying different control systems. Beginning with a clear introduction to the subject, the book goes on to include three main facets of kinetic friction, starting with phenomena of kinetic friction in drives. This chapter explains friction interfaces and friction effects. Following from this, the next chapter looks at motion dynamics with friction, which introduces dynamic system equations and focuses on both energy balance and dissipation. Finally, the book looks at compensation of friction in motion control, which summarises key compensation methods in controlled mechanical systems. Introducing various basic feedback control methods, including observer-based methods to compensate for kinetic friction, the text provides practical information that can be used in a wide variety of contexts not specific to particular systems or applications. This book will be of interest to students and industry workers in the field of robotics, mechanical systems and control engineering.
Download or read book Dynamic Friction Measurement written by Atif Ahmad Aly and published by . This book was released on 1994 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: The friction force between two bodies sliding at constant relative velocity is a function of their relative velocity. Under conditions of time-variable relative velocity, the instantaneous friction is a function not only of the instantaneous velocity but also the velocity history. An understanding of the resulting dynamic friction function will allow for the design of control systems where velocity is time-varying, oscillatory andoften contained in a relatively small region centered around zero amplitude. Within the control system, a portion of the control force can be implemented to effectively counteract the friction present and allow for precise motion control. In this thesis a theoretical model which simulates the dynamic friction function requires verification through comparison with experimental data. An electromechanical system was designed and implemented to achieve this aim. The present system allows for the control of various parameters such as test-shaft angular frequency and velocity, test-shaft applied loan and lubricating oil viscosity. The subsequent comparison of theoretical and experimental data enables us to estimate the integrity of the model and offers insight into areas which require further investigation.
Download or read book Identification of Friction and Its Compensation in Precise Position Controlled Systems written by Craig T. Johnson and published by . This book was released on 1992 with total page 390 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Dynamic Friction written by Yanal Jij and published by . This book was released on 2012 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: Friction has been known as a phenomenon since Leonardo da Vinci era. From that time and through the last four centuries, scientists tried to understand this phenomenon in an effort to overcome its undesired side effects which include energy loss, parts wearing, and errors in control systems. Much has been achieved in studying friction and many experiments have been conducted in this field. These experiments resulted in a mounting evidence that friction is a dynamic phenomenon. This thesis presents an apparatus that measures dynamic friction in linear motion and the results obtained using this apparatus. The apparatus consists of a reciprocating platform and a Test Mass on top of it. The platform moves in a sinusoidal pattern with user changeable frequencies and amplitudes. The ultimate objective of the apparatus is to measure the acceleration and the relative velocity of the Test Mass to produce a friction coefficient vs. velocity curve that is used in studying friction. The force needed to move the base is provided by two solenoids which are controlled through a C++ program that allows real-time control. A graphical user interface (GUI) has been developed to allow the user to change the frequency and amplitude of the motion. The results, presented in this thesis, are from experiments with different frequencies, amplitudes, materials and loads.
Download or read book Investigations in Non model based Friction Estimation and Compensation in Motion Control written by Ashok Ramasubramanian and published by . This book was released on 2002 with total page 440 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Dynamic Friction Measurement and Modeling at the Mirco nano Scale written by Abhishek Srivastava and published by ProQuest. This book was released on 2006 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: An experimental characterization of friction forces between asymmetric surfaces in the micro-regime is performed by exploring the lateral scratching functionality of a traditional nanoindenter (Hysitron Triboindenter) to determine friction properties at low velocities. Classical friction experiments are reproduced using the triboindenter with high repeatability. It is observed that real-time depth measurements closely follow the Hertzian prediction. Friction spikes with magnitude dependent upon the desired velocity input function (higher peak values in reduced rise times) are observed, indicating an onset of kinetic friction effects even before the motion begins. Anisotropy is observed between surfaces of different materials with stick-slip occurring only at specific relative orientations. Experimental estimation of the control parameters of the triboindenter is combined with the LuGre model for describing friction for simulation of the experiments. Data obtained from a tribo-rheometer is least-square fitted to the LuGre model and modifications to the model that describe the friction behavior more accurately and provide a physical basis for it are investigated. Comparison experiments are performed with the tribo-rheometer and the surface force apparatus (SFA) using similar material and scratch parameters to determine the validity of the triboindenter as a nano/micro-scale friction testing tool. Limitations of the triboindenter as a tribological tool and methods to overcome some of them are discussed. Advanced equipment for expanding the current range of the triboindenter which allow experimentation from the nano to the macro scale are tested. Novel methods for scaling friction are described along with possible applications of such tribological investigations in MEMS and nano-scale devices.
Download or read book JSME International Journal written by and published by . This book was released on 2003 with total page 1248 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Force and Position Control of Mechatronic Systems written by Tong Heng Lee and published by Springer Nature. This book was released on 2020-12-11 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: Force and Position Control of Mechatronic Systems provides an overview of the general concepts and technologies in the area of force and position control. Novel ideas and innovations related to this area are presented and reported in detail, and examples of applications in medical technology are given. The book begins by introducing force sensing, and modelling of contacting objects. In then moves steadily through a variety of topics, including: • disturbance observer-based force estimation; • force-based supervisory control; • stabilization systems; • controller design; and • control of tube insertion procedures. This book will be of interest to researchers, engineers and students interested in force control, particularly those with a focus on medical applications of these ideas. Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.
Download or read book Journal of Dynamic Systems Measurement and Control written by and published by . This book was released on 2007 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Control of Machines with Friction written by Brian Armstrong-Hélouvry and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is my ambition in writing this book to bring tribology to the study of control of machines with friction. Tribology, from the greek for study of rubbing, is the discipline that concerns itself with friction, wear and lubrication. Tribology spans a great range of disciplines, from surface physics to lubrication chemistry and engineering, and comprises investigators in diverse specialities. The English language tribology literature now grows at a rate of some 700 articles per year. But for all of this activity, in the three years that I have been concerned with the control of machines with friction, I have but once met a fellow controls engineer who was aware that the field existed, this including many who were concerned with friction. In this vein I must confess that, before undertaking these investigations, I too was unaware that an active discipline of friction existed. The experience stands out as a mark of the specialization of our time. Within tribology, experimental and theoretical understanding of friction in lubricated machines is well developed. The controls engineer's interest is in dynamics, which is not the central interest of the tribologist. The tribologist is more often concerned with wear, with respect to which there has been enormous progress - witness the many mechanisms which we buy today that are lubricated once only, and that at the factory. Though a secondary interest, frictional dynamics are note forgotten by tribology.
Download or read book Robot Manipulators written by Marco Ceccarelli and published by BoD – Books on Demand. This book was released on 2008-09-01 with total page 558 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book we have grouped contributions in 28 chapters from several authors all around the world on the several aspects and challenges of research and applications of robots with the aim to show the recent advances and problems that still need to be considered for future improvements of robot success in worldwide frames. Each chapter addresses a specific area of modeling, design, and application of robots but with an eye to give an integrated view of what make a robot a unique modern system for many different uses and future potential applications. Main attention has been focused on design issues as thought challenging for improving capabilities and further possibilities of robots for new and old applications, as seen from today technologies and research programs. Thus, great attention has been addressed to control aspects that are strongly evolving also as function of the improvements in robot modeling, sensors, servo-power systems, and informatics. But even other aspects are considered as of fundamental challenge both in design and use of robots with improved performance and capabilities, like for example kinematic design, dynamics, vision integration.
Download or read book Proceedings of the SICE Annual Conference written by Keisoku Jidō Seigyo Gakkai (Japan). Gakujutsu Kōenkai and published by . This book was released on 2004 with total page 1036 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Bearing Design in Machinery written by Avraham Harnoy and published by CRC Press. This book was released on 2002-09-25 with total page 654 pages. Available in PDF, EPUB and Kindle. Book excerpt: Covering the fundamental principles of bearing selection, design, and tribology, this book discusses basic physical principles of bearing selection, lubrication, design computations, advanced bearings materials, arrangement, housing, and seals, as well as recent developments in bearings for high-speed aircraft engines. The author explores unique solutions to challenging design problems and presents rare case studies, such as hydrodynamic and rolling-element bearings in series and adjustable hydrostatic pads for large bearings. He focuses on the design considerations and calculations specific to hydrodynamic journal bearings, hydrostatic bearings, and rolling element bearings.
Download or read book Characterizing the Low order Friction Dynamics in a Forced Oscillator written by Jin-Wei Liang and published by . This book was released on 1996 with total page 424 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Paper written by and published by . This book was released on 1990 with total page 294 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book The IEEE International Conference on Fuzzy Systems Proceedings written by and published by . This book was released on 1998 with total page 856 pages. Available in PDF, EPUB and Kindle. Book excerpt:
