In RV transmission system (RVTS), friction is closely related to rotational speed and angular position. However, classical friction models do not consider the influence of angular position on friction, resulting in limited accuracy in describing the RVTS frictional behavior. For this reason, this paper proposes an angular position-based two-stage friction model for RVTS, and achieves a more accurate representation of friction of RVTS. The proposed model consists of two parts, namely pre-sliding model and sliding model, which are divided by the maximum elastic deformation recovery angle of RVTS obtained from loading-unloading tests. The pre-sliding friction behavior is regarded as a spring model, whose stiffness is determined by the angular position and the acceleration when the velocity crosses zero, while the sliding friction model is established by the angular-segmented Stribeck function, and the friction parameters of the adjacent segment are linearly smoothed. A feedforward compensation based on the proposed model was performed on the RVTS, and its control performance was compared with that using the classical Stribeck model. The comparison results show that when using the proposed friction model, the low-speed-motion smoothness of the RVTS can be improved by 14.2%, and the maximum zero-crossing speed error can be reduced by 37.5%, which verifies the validity of the proposed friction model, as well as the compensation method.


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    Title :

    An Angular Position-Based Two-Stage Friction Modeling and Compensation Method for RV Transmission System


    Contributors:
    Qi*, Chao (author) / Jiang, Xianliang (author) / Liao, Hongbo (author) / Fan, Dapeng (author) / Zhang, Sheng (author)

    Publication date :

    2019-01-01


    Remarks:

    Tehnički vjesnik ; ISSN 1330-3651 (Print) ; ISSN 1848-6339 (Online) ; Volume 26 ; Issue 6


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629







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    Free access