대한기계학회:학술대회논문집 (Proceedings of the KSME Conference)
- 대한기계학회 2003년도 춘계학술대회
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- Pages.799-804
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- 2003
정밀 위치제어 시스템을 위한 개선된 마찰 모델
An Improved Friction Model for Precise Tracking Control Systems
초록
Friction phenomenon can be described as two parts which are pre-sliding and sliding regions. In motion of the sliding region, friction forces depend on the velocity of the system and are known as Coulomb, stick-slip, stribeck effect and viscous friction. The pre-sliding region, which is before breakaway, depends on the position of the system. The motion of friction in the sliding region can be described as the LuGre model. But the pre-sliding motion of friction, which has hysteresis characteristics in general, is not known widely. Therefore, an improved friction model, which can describe the motion of friction in the pre-sliding region, is proposed in this paper. And simulation and experimental results show the effectiveness of the proposed friction model for precise tracking control systems.