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Library

Iconic Diagrams\Mechanical\Translation\Components

Use

Domains: Continuous. Size: 1-D. Kind: Iconic Diagrams (Translation).

Implementations

C

V

CV

SCVS

LuGre

Use

Domains: Continuous. Size: 1-D. Kind: Iconic Diagrams (Translation).

Introduction

These models represents friction with the fixed world. The amount of friction does not depend on the normal force but determined by parameters directly. The models have only one initial port p defined. The port p of the friction models have separate high and low terminals. The equations are:

 

p.F = p_high.F = p_low.F

p.v = p_high.v - p_low.v

 

Description - C

This model represents friction with the fixed world described as coulomb friction:

 

p.F = Fc*tanh(slope*p.v);

 

Fc: the coulomb friction

slope: the steepness of the coulomb and static friction curve.

 

 

Interface - C

Description - V

This model represents friction with the fixed world described as viscous friction:

 

p.F = d*p.v;

 

d: the viscous friction or damping

 

 

Interface - V

 

Description - CV

This model represents friction with the fixed world described as coulomb plus viscous friction:

 

p.F = Fc*tanh( slope*p.v ) + d*p.v;

 

d: the viscous friction or damping

Fc: the coulomb friction

slope: the steepness of the coulomb and static friction curve.

 

Interface - CV

Description - SCVS

This model represents friction with the fixed world described as static plus coulomb plus viscous plus Stribeck friction:

 

p.F = (( Fc + (Fst*abs(tanh( slope*p.v )) - Fc) * exp( -((p.v / v_st)^2 )) ) *  sign(p.v) + d * p.v);

 

Fst: the static friction

d: the viscous friction or damping

Fc: the coulomb friction

slope: the steepness of the coulomb and static friction curve.

v_st: the characteristic Stribeck velocity.

 

 

Interface - SCVS

Description - LuGre

This model represents friction with the fixed world described by the LuGre friction model:

 

p.F = f_lg(p.v);

 

f_lg: the LuGre friction model

Interface - LuGre