A simple model of drive with friction for control system simulation

Abstract

This paper proposes a simple discrete model of drive with friction. The nonlinear part of the model is based on the observation that friction is maximum just before two objects begin to move, and decreases when the objects are in motion with constant relative velocity. Although it falls in the realm of classical Static+Coulomb+Viscous models of friction it is a dynamical one. Linear part is based on the typical linearized equations of a DC motor. The obtained model equations can be easily modeled, e.g., in SIMULINK. The complete model has four parameters and simple identification procedure is presented. An example of model parameter identification is provided. © Springer-Verlag Berlin Heidelberg 2003.