Control of Machines with Friction
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...
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| Format: | eBook |
| Language: | English |
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New York, NY
Springer US
1991, 1991
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| Edition: | 1st ed. 1991 |
| Series: | The Springer International Series in Engineering and Computer Science
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| Subjects: | |
| Online Access: | |
| Collection: | Springer Book Archives -2004 - Collection details see MPG.ReNa |
Table of Contents:
- 1. Introduction
- 2. Friction in Machines
- 2.1. The Contemporary Model of Machine Friction
- 2.2. Boundary Lubricants: a Domain of Many Choices
- 2.3. Relaxation Oscillations
- 2.4. Friction Modeling in the Controls Literature
- 2.5. An Integrated Friction Model
- 3. Experiment Design
- 4. Repeatability
- 5. Break-Away Experiments
- 5.1. Experimental Issues in Measuring Break-Away Torque
- 5.2. Building the Compensation Table
- 6. Friction as a Function of Velocity
- 6.1. Analysis of Variance in the Motion Friction Data
- 6.2. Friction at Low Velocities
- 6.3. Friction During Compliant Motion
- 6.4. The Dahl Effect
- 6.5. The Stribeck Effect
- 6.6. Temporal Effects in the Rise and Decay of Friction
- 6.7. Variance in Friction as Process Noise
- 7. Analysis of Stick-Slip
- 7.1. Dimensional Analysis
- 7.2. Perturbation Analysis
- 7.3. The Impact of Static Friction Rising as a Function of Dwell Time
- 7.4. Integral Control
- 8. Demonstrations of Friction Compensation
- 8.1. Open-Loop Motion of One Joint
- 8.2. Open-Loop Motion of Three Joints
- 8.3. Friction Compensated Force Control
- 9. Suggestions Toward Friction Modeling and Compensation
- 9.1. Suggestions on Experimental Technique
- 9.2. Suggestions on Control
- 9.3. Conclusion
- Appendix A: Small Studies
- A.1 Friction as a Function of Motor Angle
- A.2 Joint 2 Motor Alone and Joint 2 Link Alone
- A.3 Trials with Dither
- A.4 Friction as a Function of Load
- A.5 Creep
- A.6 Effects that were not Observed