Abstract
In this paper, a novel transmission engaging model is proposed by modifying the conventional LuGre model to describe microcontact behavior. The proposed model uses the bristle deformation stage, partial transmission engaging stage, and complete transmission engaging stage to characterize the friction force when the platform reverses its moving direction. The model retains the basic characteristics of the LuGre model. However, unlike the LuGre model, the model can explain why the friction force increases although the velocity of the moving platform remains constant in the experiment. The model can provide more accurate friction force estimations than the LuGre model can. Finally, the model is integrated with the servo dynamics model to estimate the position feedback, velocity feedback, and friction force. The experimental results show that the model has higher estimation accuracy than the LuGre model for the friction force, velocity feedback, and position feedback.
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