Abstract
Dynamic simulation of mechanical systems can be performed using a multibody system dynamics approach. The approach allows to account systems of other physical nature, such as hydraulic actuators. In such systems, the nonlinearity and numerical stiffness introduced by the friction model of the hydraulic cylinders can be an important aspect to consider in the modeling because it can lead to poor computational efficiency. This paper couples various friction models of a hydraulic cylinder with the equations of motion of a hydraulically actuated multibody system in a monolithic framework. To this end, two static friction models, the Bengisu–Akay model and Brown–McPhee model, and two dynamic friction models, the LuGre model and modified LuGre model, are considered in this work. A hydraulically actuated four-bar mechanism is exemplified as a case study. The four modeling approaches are compared based on the work cycle, friction force, energy balance, and numerical efficiency. It is concluded that the Brown–McPhee approach is numerically the most efficient approach and it is well able to describe usual friction characteristics in dynamic simulation of hydraulically actuated multibody systems.
Highlights
Dynamic simulation of mechanical systems can be performed using multibody system dynamics
A physically incorrect friction model of the hydraulic cylinders can lead to inaccurate simulations and control errors
Even though the differences in the relative joint coordinates and pressures may be small, they differ based on the friction model utilized in the modelcan significantly affect the control system performance
Summary
Dynamic simulation of mechanical systems can be performed using multibody system dynamics. In this approach, the equations of motion describe a force equilibrium for the mechanical system under consideration. The equations of motion describe a force equilibrium for the mechanical system under consideration This approach allows to describe systems of other physical nature, such as hydraulic actuators [32,33,43]. The friction model of the hydraulic cylinders can introduce numerical stiffness [38], and as a consequence, time integration of hydraulically actuated systems may become cumbersome, especially, in real-time applications [30,31,50]. A physically incorrect friction model of the hydraulic cylinders can lead to inaccurate simulations and control errors
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