Friction is a difficult phenomenon to model and simulate. One promising friction model is the LuGre model, which captures key frictional behavior from experiments and from other friction models. While displaying many modeling advantages, the LuGre model of friction can result in numerically stiff system dynamics. In particular, the LuGre friction model exhibits very slow dynamics during periods of sticking and very fast dynamics during periods of slip. This paper investigates the best simulation strategies for application to dynamic systems with LuGre friction. Several simulation strategies are applied including the explicit Runge–Kutta, implicit Trapezoidal, and implicit Radau-IIA schemes. It was found that both the Runge–Kutta and Radau-IIA methods performed well in simulating the system. The Runge–Kutta method had better accuracy, but the Radau-IIA method required less integration steps.
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October 2007
Research Papers
Efficient Simulation of a Dynamic System with LuGre Friction
Nguyen B. Do,
Nguyen B. Do
School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332-0405
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Aldo A. Ferri,
Aldo A. Ferri
School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332-0405
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Olivier A. Bauchau
Olivier A. Bauchau
School of Aerospace Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332-015
Search for other works by this author on:
Nguyen B. Do
School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332-0405
Aldo A. Ferri
School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332-0405
Olivier A. Bauchau
School of Aerospace Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332-015J. Comput. Nonlinear Dynam. Oct 2007, 2(4): 281-289 (9 pages)
Published Online: March 18, 2007
Article history
Received:
September 1, 2005
Revised:
March 18, 2007
Citation
Do, N. B., Ferri, A. A., and Bauchau, O. A. (March 18, 2007). "Efficient Simulation of a Dynamic System with LuGre Friction." ASME. J. Comput. Nonlinear Dynam. October 2007; 2(4): 281–289. https://doi.org/10.1115/1.2754304
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