control of machines with friction.pdf

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CONTROL OF MACHINES WITH FRICTION

THE KLUWER INTERNATIONAL SERIES IN ENGINEERING AND COMPUTER SCIENCE ROBOTICS: VISION, MANIPULATION AND SENSORS Consulting Editor: Takeo Kanade ROBOTIC GRASPING AND FINE MANlPULATION, M. Cutkosky ISBN: 0-89838-200-9 SHADOWS ANDSlI..HOUETrES IN COMPUTER VISION, S. Shafer ISBN: 0-89838-167·3 PERCEPTUAL ORGANlZATION AND VISUAL RECOGNITION, D. Lowe ISBN: 0-89838-172·X ROBOT DYNAMICS ALGORITHMS, F. Featherstone ISBN: 0-89838-230-0 THREE- DIMENSIONAL MACHINE VISION, T. Kanade (editor) ISBN: 0-89838-188-6 KINEMATIC MODEUNG, lDENTIFICATION AND CONTROL OF ROBOT MANlPULATORS, H.W. Stone ISBN: 0-89838-237-8 OBJECT RECOGNITION USING VISION AND TOUCH, P. Allen ISBN: 0-89838-245-9 INTEGRATION, COORDINATION AND CONTROL OF MULTI-SENSOR ROBOT SYSTEMS, H.F. Durrant-Whyte ISBN: 0-89838-247-5 MOTION UNDERSTANDING: Robot and Human Vision, W.N. Martin and J. K. AggrawaI (edilors) ISBN: 0-89838·258-0 BAYESlAN MODEUNG OF UNCERTAINTY IN LOW-LEVEL VISION, R. Szeliski ISBN 0-7923-9039·3 VISION AND NAVIGATION: THE CMU NAVLAB, C. Thorpe (editor) ISBN 0·7923-9068-7 TASK-DIRECTED SENSOR FUSION AND PLANNING: A Computational Approach, G. D. Hager ISBN: 0-7923-9108-X COMPUTER ANALYSIS OF VISUAL TEXTURES, F. Tomita and S. Tsuji ISBN: 0-7923-9114-4 DATA FUSION FOR SENSORY INFORMATION PROCESSING SYSTEMS, J. Clark and A. Yuille ISBN: 0-7923-9120-9 PARALLEL ARCHITECTURES AND PARALLEL ALGORITHMS FOR INTEGRATED VISION SYSTEMS, A.N. Choudhary, J. H. Patel ISBN: 0-7923·9078-4 ROBOT MOTION PLANNING, J. C. LaTombe ISBN: 0-7923·9129-2

CONTROL OF MACHINES WITH FRICTION by Brian Armstrong-Helouvry University of Wisconsin, Milwaukee SPRINGER-SCIENCE+BUSINESS MEDIA, LLC ~. "

Llbrary of Congress Cataioging-In-PubUeation Data Armstrong-Helouvry, Brian, 19S8- Control of machines with friction / Brian Armstrong-Helouvry. (The Kluwer international series in engineering and p. cm. - computer science. Robotlcs) ISBN 978-1-4615-3972-8 (eBook) II. Series. 90-20760 CIP Includes bibliographical references and index. ISBN 978-1-4613-6774-1 DOI 10.1007/978-1-4615-3972-8 1. Tribology. 2. Machinery-Design. I. Title. TJl07S.A67 1991 621.8 '9-dc20 Copyright © 1991 Springer Science+Business Media New York Originally published by Kluwer Academic Publishers in 1991 Softcover reprint ofthe hardcover Ist edition 1991 Ali rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means. mechanical, photo-copying, recording, or otherwise, without the prior written permission of the publisher, Springer-Science Business Media, LLC. Printed on acid-free paper.

CONTROL OF MACHINES WITH FRICTION

Contents Preface 1. 2. Introduction 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. 5. Repeatability 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 . . . . . vii zx 1 7 11 21 24 35 41 43 47 55 55 58 63 64 66 68 78 80 88 91

viii Control of Machines with Friction 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 Integral Control . . . . . 7.4. 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 95 98 101 108 116 125 125 129 134 9. Suggestions Toward Friction Modeling and Compensation 141 9.1. Suggestions on Experimental Technique 9.2. Suggestions on Control . . . . 9.3. Conclusion Bibliography Appendix A: Small Studies Friction as a Function of Motor Angle Joint 2 Motor Alone and Joint 2 Link Alone Trials with Dither Friction as a Function of Load Creep Effects that were not Observed . . . . . . A.1 A.2 A.3 A.4 A.5 A.6 Index 142 143 144 147 157 157 159 162 164 166 167 169

Preface 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 is the discipline that concerns itself with friction, wear and of rubbing, 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. the central is more often concerned with wear, with respect Within tribology, experimental and theoretical understanding of friction in lubricated machines is well developed. The controls engineer's interest interest of the tribologist. The is in dynamics, which is not tribologist 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 In this monograph something over one hundred references to tribology. the tribology literature are considered and their implications for control addressed. in the early years investigation, when the dynamics could be used as a tool of tribological to explore basic interface phenomena. Since the 1960's there has been in part because more powerful means have been less interest in dynamics, developed to explore interface physics, and in part because, at least within some quarters of tribology, the dynamics of friction in lubricated machines was considered to be a solved problem. No problem is ever completely solved and, as a half score of recent references attest, interest in dynamics is rising again. This time with predictive models of mechanism friction; models based on three decades of progress in surface and lubricant physics. Interest in frictional dynamics was greatest ix

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