Dahl friction modeling

The drive behind improved friction models has been better prediction and control of dynamic systems. The earliest model was of classical Coulomb friction; however, the discontinuity during force reversal of the Coulomb friction model has long been a point of contention since such a discontinuity does not accurately portray the behavior of real systems. Other models have been suggested, but variations of the Dahl solid friction model remain some of the simplest yet most useful. Dahl's original theory proposed that friction behaved as a stress acting upon the quantum mechanical bonds at the interface. Thus, the relationship between frictional force and position would be analogous to a stress-strain curve, complete with hysteresis should there be permanent displacement akin to plastic deformation in materials. This project reviews the variations of Dahl friction models popular in the literature and then demonstrates it both analytically via Matlab and Simulink simulations and experimentally by observing the behavior of a limited angle torque motor.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2004

Author dc:creator

• Chou, Danielle, 1981-

Advisor dc:contributor.advisor

• David L. Trumper.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/32826

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/32826