Browse > Article

Pre-Sliding Friction Control Using the Sliding Mode Controller with Hysteresis Friction Compensator  

Choi, Jeong Ju (Department of Mechanical and Intelligent Systems Engineering, Pusan National University)
Kim, Jong Shik (School of Mechanical Engineering and RIMT, Pusan National University)
Han, Seong Ik (Department of Mechatronics, Suncheon First College)
Publication Information
Journal of Mechanical Science and Technology / v.18, no.10, 2004 , pp. 1755-1762 More about this Journal
Abstract
Friction phenomenon can be described as two parts, which are the pre-sliding and sliding regions. In the motion of the sliding region, the friction force depends on the velocity of the system and consists of the Coulomb, stick-slip, Streibeck effect and viscous frictions. The friction force in the pre-sliding region, which occurs before the breakaway, depends on the position of the system. In the case of the motion of the friction in the sliding region, the LuGre model describes well the friction phenomenon and is used widely to identify the friction model, but the motion of the friction in the pre-sliding such as hysteresis phenomenon cannot be expressed well. In this paper, a modified friction model for the motion of the friction in the pre-sliding region is suggested which can consider the hysteresis phenomenon as the Preisach model. In order to show the effectiveness of the proposed friction model, the sliding mode controller (SMC) with hysteresis friction compensator is synthesized for a ball-screw servo system.
Keywords
Friction; Preisach Hysteresis Model; Sliding Mode Control; Feedforward Hysteresis Friction Compensator;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Sjostrom, M., Djukic, D. and Duoit, B., 2000, 'Parameterized Hystersis Model for High-Temperature Super conductors,' IEEE Transactions on Applied Superconductivity, Vol. 10, No. 2, pp. 1585-1592   DOI   ScienceOn
2 Yu, Y., Xiao, Z., Lin, E. B. and Naganathan, N., 2000, 'Analytic and Experimental Studies of a Wavelet Identification of Preisach Model of Hysteresis,' Journal of Magnetism and Magnetic Materials, Vol. 208, pp. 255-263   DOI   ScienceOn
3 Yu, Y., Xiao, Z., Naganathan, N. G. and Dukkipati, R. V., 2002, 'Dynamic Preisach modeling of Hysteresis for the Piezoceramic Actuator System,' Mechanism and Machine Theory, Vol. 37, pp. 75-89   DOI   ScienceOn
4 Awabdy, B. A., Shih, W. C. and Auslander, D. M., 1998, 'Nanometer Positioning of Linear Motion Stage Under Static Loads,' IEEE/ASME Transaction on Mechatronics, Vol. 3, No. 2, pp. 113-119   DOI   ScienceOn
5 C. Canudas de Wit, H. Olsson, K. J. Astrom, P. Lischinsky, 'A New Model for Control of Systems with Friction,' IEEE Transactions on Automatic Control, Vol. 40 , No. 3, pp. 419-425, 1995   DOI   ScienceOn
6 Cincotti, S. and Daneri, I., 1999, 'A Non-linear Circuit Model of Hysteresis,' IEEE Transactions on Magnetics, Vol. 35, No. 3, pp.1247-1250   DOI   ScienceOn
7 Dahl, P., 1968, 'A Solid Friction Model,' The Aerospace Corporation, El Segundo, CA, Tech. Rep. TOR-0158, pp. 3107-3118
8 Dupont, P., Hayward, V., Armstrong, B. and Altpeter, F., 2002, 'Single State Elastoplastic Friction Models,' IEEE Transaction on Automatic Control, Vol. 47, No. 5, pp 787-792   DOI   ScienceOn
9 Erbatur, K., Kaynak, M. and Sabanovic, A., 1999, 'A Study of Robustness Property of Sliding Mode Controllers : A Novel Design and Experimental Investigation,' IEEE Transactions of Industrial Electronics, Vol. 46, No. 5, pp.1012-1018   DOI   ScienceOn
10 Ge, P. and Jouaneh, M., 1995, 'Modeling Hysteresis in Piezoceramic Actuators,' Precision Engineering, Vol. 17, No. 3, pp. 211-221   DOI   ScienceOn
11 Lampaert, V. and Swevers, J., 2001, 'On-line Identification of Hysteresis Functions with Nonlocal Memory,' IEEE/ ASME International Conference on Advanced Intelligent Mechatronics Proceedings, Como, Italy, pp. 833-837   DOI
12 Mayergoyz, I. D., 1991, Mathematical Models of Hysteresis, Springer-verlag
13 Brian Armstrong-Helouvry, Pierre Dupont, and Carlos Canudas De Wit, 'A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction,' Automatica, Vol. 30, No.7, pp. 1083-1138, 1994   DOI   ScienceOn