A fractional order friction model

Tianzhu Xun; Pengchong Chen; Shaohua Wang; Youguo Pi; Ying Luo

doi:10.1016/j.isatra.2023.07.027

A fractional order friction model

ISA Trans. 2023 Nov:142:550-561. doi: 10.1016/j.isatra.2023.07.027. Epub 2023 Jul 26.

Authors

Tianzhu Xun¹, Pengchong Chen², Shaohua Wang¹, Youguo Pi³, Ying Luo⁴

Affiliations

¹ School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China.
² School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, 450001, China.
³ School of Automation Science and Engineering, South China University of Technology, Guangzhou, 510641, China.
⁴ School of Automation Science and Engineering, South China University of Technology, Guangzhou, 510641, China. Electronic address: ying.luo@hust.edu.cn.

PMID: 37558514
DOI: 10.1016/j.isatra.2023.07.027

Abstract

A new dynamic model for friction is proposed based on the commonality between frictional order dynamics and friction behavior. The model can achieve accurate modeling both in the sliding and the pre-sliding region with fewer parameters. Simulation results of the FOFM are illustrated with the parameters identification using the particle swarm optimization algorithm. The simulation shows that the fractional order friction model (FOFM) can capture most of the friction behavior accurately, including the hysteresis, non-local memory, Stribeck effect, and friction lag with only 7 parameters. Experimental results are also carried out to demonstrate the superiority of the proposed FOFM in terms of modeling accuracy and complexity, comparing with the well-known GMS model.

Keywords: Fractional order model; Friction modeling; Hysteresis non-local memory; Pre-sliding region.