Nonlinear Friction Behavior of Discontinuity at Stroke End in a Ball Guide Way

Abstract

This paper presents a new dynamic model of nonlinear friction in a ball guide way. This model includes Coulomb friction, viscous friction, Stribeck effect and nonlinear behavior of elastic deformation. By the proposed model contrary to the conventional one, the motion is not decelerated but accelerated by the elastic recovery force just after the direction is reversed This model is not symmetrical for the zero speed of motion. In our simulations the friction models of the proposed and conventional were tuned using Generic Algorithm and by applying these models the driving forces for the same reversed motion were also estimated. These simulations indicated the proposed model is much more accurate than the conventional one. The friction force compensation experiments considering the proposed model were carried out by using a linear slider for a motion in which the velocity was reversed. The tracking error was reduced to less than a half of that without compensation.