Sliding Mode Controller Design for Position and Speed Control of Flight Simulator Servo System with Large Friction

Flight simulator is an important device and a typical high-performance position and speed servo system used in the hardware-in-the-loop simulation of flight control system. Friction is the main nonlinear resistance in the flight simulator servo system, especially in a low-speed state. Based on the description of dynamic and static models of a nonlinear Stribeck friction model, this paper puts forward sliding mode controller to overcome the friction, whose stability is

Estimating the largest Lyapunov exponent in a multibody system with dry friction by using chaos synchronization

Using the properties of chaos synchronization, the method for estimating the largest Lyapunov exponent in a multibody system with dry friction is presented in this paper. The Lagrange equations with multipliers of the systems are given in matrix form, which is adequate for numerical calculation. The approach for calculating the generalized velocity and acceleration of the slider is given to determine slipping or sticking of the slider in the systems. For slip-slip and stick-slip multibody systems, their largest Lyapunov exponents are calculated to characterize their dynamics.

Efficient modeling of cable-pulley system with friction based on arbitrary-Lagrangian-Eulerian approach

In conventional modeling of a cable-pulley system, the cable must be finely meshed with Lagrangian elements for valid contact detections with pulleys, leading to extremely low efficiency. The sliding joint method based on the arbitrary-Lagrangian- Eulerian （ALE） formulation still lacks an efficient cable element, and in particular, modeling of friction between a sliding joint and the cable has not been studied. This paper presents efficient multi-body modeling of a cable-pulley system with friction. A variable- length cable element with a node movable along the cable, which is described with ALE, is developed to mesh the cable. A transitional cable element is then proposed to model the contact part of the cable by fixing its two nodes to the two corresponding locations of the pulley. Friction of the cable-pulley is derived as a simple law of tension decay and embedded in the multi-body system modeling. It is simplified as a generalized friction force acting only on the arc-length coordinate. This approach can use a rough mesh on the cable, and is free of contact detections, thus significantly saving computation time. Several examples are presented to validate the proposed method, and show its effectiveness in real engineering applications.

Numerical Analysis of Dry Friction-Induced Vibration of Moving Slider-Elastic Annular Beam System

A disc-pad friction system is modelled as that two moving pads act symmetrically on an annular beam with flexible boundary condition.Simulation procedure is proposed to deal with the moving interactions and calculation is carried out by using the finite difference method,which shows that only the first-order mode vibration of the beam can be induced.Then the partial differential equation of motion of the disk is reduced to a first-order mode vibration system with time-varying stiffness.As the disk speed is decreased below the critical speeds,the relative equilibrium of the pad on the disk loses its stability and stick-slip type limit cycle vibrations are resulted in all directions′movements.Acceleration of the disk motion on the frictional instability is also investigated.The period of stick-slip vibration with large amplitude will be shortened with higher moving deceleration.

Equivalent series system to model a multiple friction pendulum system with numerous sliding interfaces for seismic analyses

Current structural analysis software programs offer few if any applicable device-specifi c hysteresis rules or nonlinear elements to simulate the precise mechanical behavior of a multiple friction pendulum system(MFPS) with numerous sliding interfaces.Based on the concept of subsystems,an equivalent series system that adopts existing nonlinear elements with parameters systematically calculated and mathematically proven through rigorous derivations is proposed.The aim is to simulate the characteristics of sliding motions for an MFPS isolation system with numerous concave sliding interfaces without prior knowledge of detailed information on the mobilized forces at various sliding stages.An MFPS with numerous concave sliding interfaces and one articulated or rigid slider located between these interfaces is divided into two subsystems: the fi rst represents the concave sliding interfaces above the slider,and the second represents those below the slider.The equivalent series system for the entire system is then obtained by connecting those for each subsystem in series.The equivalent series system is validated by comparing numerical results for an MFPS with four sliding interfaces obtained from the proposed method with those from a previous study by Fenz and Constantinou.Furthermore,these numerical results demonstrate that an MFPS isolator with numerous concave sliding interfaces,which may have any number of sliding interfaces,is a good isolation device to protect structures from earthquake damage through appropriate designs with controllable mechanisms.

Modeling and analysis of rigid multibody systems with driving constraints and frictional translation joints

An approach is proposed for modeling and anal- yses of rigid multibody systems with frictional translation joints and driving constraints. The geometric constraints of translational joints with small clearance are treated as bilat- eral constraints by neglecting the impact between sliders and guides. Firstly, the normal forces acting on sliders, the driv- ing constraint forces （or moments） and the constraint forces of smooth revolute joints are all described by complementary conditions. The frictional contacts are characterized by a set- valued force law of Coulomb＇s dry friction. Combined with the theory of the horizontal linear complementarity problem （HLCP）, an event-driven scheme is used to detect the transi- tions of the contact situation between sliders and guides, and the stick-slip transitions of sliders, respectively. And then, all constraint forces in the system can be computed easily. Secondly, the dynamic equations of multibody systems are written at the acceleration-force level by the Lagrange multiplier technique, and the Baumgarte stabilization method is used to reduce the constraint drift. Finally, a numerical example is given to show some non-smooth dynamical behaviors of the studied system. The obtained results validate the feasibility of algorithm and the effect of constraint stabilization.

Sliding state stepping algorithm for solving impact problems of multi-rigid-body system with joint friction

Impact dynamics of multi-rigid-body systems with joint friction is considered. Based on the traditional approximate assumption dealing with impact problem, a general numerical method called the sliding state stepping algorithm is introduced. This method can avoid difficulties in solving differential equations with variable scale and its result can avoid energy inconsistency before and after impact from considering complexily of tangential sliding mode. An example is given to describe details using this algorithm.

THE DISCRETE MODELS ON A FRICTIONAL SINGLE DEGREE OF FREEDOM SYSTEM

Two stochastic models on simple random system with friction were developed. One of them was a discrete model by a two-dimensional mean map applied to describe random stick-slip motion. The numerical examples show, that external noise can reduce the complexity of the system behavior. Secondly, a probability model described was established with coexistence of stick-slip and slip motions. The numerical results point out that this model possesses pure stochastic behavior.

APPROXIMATE ANALYTICAL SOLUTION OF THE SELF-EXCITED VIBRATION OF PIECEWISE-SMOOTH SYSTEMS INDUCED BY DRY FRICTION——The Vibration Mechanism of the Chinese Cultural Relic Dragon Washbasin

Based on our previous work, a mathematical model of piecewise-smooth systems is established by means of phase-plane orbit analysis, and it is then used to study the intersting phenomena of Chinese cultural relic Dragon Washbasin. The mechanism of nonlinear damping is analyzed; the approximate analytical solution of self-excited vibration of piecewise-smooth nonlinear systems induced by dry friction is derived by means of KB Method, the results of which agree well with that of the numerical solution. Therefore, the method presented in this paper is proved to be very efficient in analyzing the self-excited vibration of piecewise-smooth systems induced by dry friction.

Impulse Controller Design of a Harmonic Drive System with Friction

A friction model was established for impulse control design in a precision control system. First, the physical characteristics of the impulse in momentum, such as motion and energy, were analyzed and formulated. Then, experimental response to a new pulse with two harmonic expansions was studied. The first harmonic is the main pulse to drive the arm, and the second harmonic has two functions： its first half helps the main pulse eliminate the dead zone, and its second half, a negative pulse, stops the arm motion quickly. Finally, an impulse feedback controller was developed. Comparison between simulation and experiments shows the effectiveness of the proposed controller.

Some new advance on the research of stochastic non-smooth systems

Due to the extensive applicability in real life, the non-smooth system with random factors attracted much attention in past two decades. A lot of methods and techniques have been proposed to research these systems by scholars. In this paper, we will summarize some new research advance on the stochastic non-smooth systems. The existing results about the stochastic vibro-impact system, the stochastic friction system, and the stochastic hysteretic system are introduced respectively. Some conclusions and outlook are given at the end.

Dynamical behavior of a mobile system with two degrees of freedom near the resonance

The design of mobile robots that can move without wheels or legs is an important engineering and technological problem.Self-propelling mechanisms consisting of a body that has contact with a rough surface and moveable internal masses are considered.Mathematical models of such systems are presented in this paper.First,a model of a vibration driven robot that moves along a rough horizontal plane with isotropic dry friction is studied.It is shown that by changing the off-resonance frequency detuning in sign,one can control the direction of motion of the system.In addition,a locomotion system which moves in an environment with anisotropic viscous friction is considered.For all models,the method of averaging to obtain an algebraic equation for the steady-state＂average＂velocity of the system is used. Prototypes were constructed to compare the theoretical results with experimental ones.

Hybrid Adaptive Compensation Control Scheme for High-Precision Servo System

In this paper,a hybrid adaptive compensation control scheme is proposed to compensate the friction occurrence and other nonlinear disturbance factors that exist in the high-precision servo system.An adaptive compensation controller with a dual-observer structure is designed,while the LuGre dynamic friction model with non-uniform parametric uncertainties characterizes the friction torque.Considering the influence of the periodic disturbance torque and parametric uncertainties,fuzzy systems and a robust term are employed.In this way,the whole system can be treated as a simple linear model after being compensated,then the proportional-derivative (PD) control law is applied to enhancing the control performance.On the basis of Lyapunov stability theory,the global stability and the asymptotic convergence of the tracking error are proved.Numerical simulations demonstrate that the proposed scheme has potentials to restrain the impact of disturbance and improving the tracking performance.

Dynamics Modeling and Numerical Analysis of Rotor with Elastic Support/Dry Friction Dampers

The elastic support/dry friction damper is a type of damper which is used for active vibration control in a rotor system.To establish the analytical model of this type of damper,a two-dimensional friction model-ball/plate model was proposed.By using this ball/plate model,a dynamics model of rotor with elastic support/dry friction dampers was established and experimentally verified.Moreover,the damping performance of the elastic support/dry friction damper was studied numerically with respect to some variable parameters.The numerical study shows that the damping performance of the elastic support/dry friction damper is closely related to the stiffness distribution of the rotor-support system,the damper location,the pressing force between the moving and stationary disk,the friction coefficient,the tangential contact stiffness of the contact interface,and the stiffness of the stationary disk.In general,the damper should be located on an elastic support which has a large vibration amplitude in order to achieve a better damping performance,and the more vibration energy in this elastic support concentrates,the better performance of the damper will be.The larger the tangential contact stiffness of the contact interface,and the stiffness of the stationary disk are,the better performance of the damper will be.There will be an optimal value of the friction force at which the damper performs best.

CONVERGENCE RATES TO NONLINEAR DIFFUSIVE WAVES FOR SOLUTIONS TO NONLINEAR HYPERBOLIC SYSTEM

This article is involved with the asymptotic behavior of solutions for nonlinear hyperbolic system with external friction. The global existence of classical solutions is proven,and L^p convergence rates are obtained. Compared with the results obtained by Hsiao and Liu, better convergence rates are obtained in this article.

Friction Material Temperature Distribution and Thermal and Mechanical Contact Stress Analysis

In brake systems, where the components are exposed to mechanical and thermal loads, the numerical analysis is very helpful. The main function of the brake system is to control or reduce vehicle’s speed by transformation of kinetic and potential energy in thermal energy. Using finite element method and Abaqus application, the present work proposed a model to study the impact of these loads on the performance of a pneumatic S cam drum brake’s friction material. The model included the effects of the rivet process;brake torque and warming in one of the 17 t bus front brake lining. Areas where the stresses vary with considerable amplitudes during temperature increase and brake application were identified. Also, it was possible to compare results of the numerical model to vehicle’s experimental measurements and understand its proximity to real braking events. By the application of the methodology and using the numerical model, proposed in this work, it will be possible to contribute considerably for a more accurate design of the friction material, besides undertake a better selection of the sub-compounds which it is made of.

On the Dynamics of Transition of a Classical System to Equilibrium State

In this work we consider a spring with one end is fixed and the other is connected to a block of mass M located on a horizontal rough table. The other side of the block is connected to a massless rope that passes over a frictionless pulley at the end of the table and a second block of mass m is hanged at the rope’s other end. For this system, we analyze and discuss its dynamics of motion as function of time when the second block is released. In particular, the displacement of the system at the end of each half-cycle of motion, the total distance, and the work done against friction are derived. An interesting result is obtained for the case when the table is frictionless. It is found that there is still a work done by friction whose magnitude is exactly the same as the stored energy in the spring.

High-velocity frictional behavior of Longmenshan fault gouge from Hongkou outcrop and its implications for dynamic weakening of fault during the 2008 Wenchuan earthquake

High-velocity friction experiments were conducted on clayey fault gouge collected from Hongkou outcrop of Beichuan fault, located at the southwestern part of Longmenshan fault system that caused the disastrous 2008 Wenchuan earthquake. The ultimate purpose of this study is to reproduce this earthquake by modeling based on measured frictional properties. Dry gouge of about 1 mm in thickness was deformed dry at slip rates of 0.01 to 1.3 m/s and at normal stresses of 0.61 to 3.04 MPa, using a rotary-shear high-velocity frictional testing machine. The gouge displays slip weakening behavior as initial peak friction decays towards steady-state values after a given displacement. Both peak friction and steady-state friction remain high at slow slip rates are exam- ined and gouge only exhibits dramatic weakening at high slip rates, with steady-state friction coefficient values of about 0.1 to 0.2. Specific fracture energy ranges from 1 to 4 MN/m in our results and this is of the same order as seismically determined values. Low friction coefficients measured on experimental faults are in broad agree- ment with lack of thermal anomaly observed from temperature measurements in WFSD-1 drill hole （Wenchuan Earthquake Fault Scientific Drilling Project）, which can be explained by even smaller friction coefficient for the Wenchuan earthquake fault. High-velocity friction experiments with pore water needs to be done to see if even smaller friction is attained or not. Shiny slickenside surfaces form at high slip rates, but not at slow slip rates. Slip zone with slickenside surface changes its color to dark brown and forms duplex-like microstructures, which are similar to those microstructures found in the fault gouges from the Hongkou outcrop. Detailed comparisons between experimentally deformed gouge samples and WFSD drill cores in the future will reveal how much we could reproduce the dynamic weakening processes in operation in fault zones during Wenchuan earthquake at present.

Internal structures and high-velocity frictional properties of a bedding-parallel carbonate fault at Xiaojiaqiao outcrop activated by the 2008 Wenchuan earthquake

This paper reports internal structures of a bedding-parallel fault in Permian limestone at Xiaoji-aqiao outcrop that was moved by about 0.5 m during the 2008 MW7.9 Wenchuan earthquake. The fault is located about 3 km to the south from the middle part of Yingxiu-Beichuan fault, a major fault in the Longmenshan fault system that was moved during the earthquake. The outcrop is also located at Anxian transfer zone between the northern and central segments of Yingxiu-Beichuan fault where fault system is complex. Thus the fault is an example of subsidiary faults activated by Wenchuan earthquake. The fault has a strike of 243°or N63°E and a dip of 38°NW and is nearly optimally oriented for thrust motion, in contrast to high-angle coseismic faults at most places. Surface outcrop and two shallow drilling studies reveal that the fault zone is several centimeters wide at most and that the coseismic slip zone during Wenchuan earthquake is about 1 mm thick. Fault zone contains foliated cataclasite, fault breccia, black gouge and yellowish gouge. Many clasts of foliated cataclasite and black gouge contained in fault breccia indicate multiple slip events along this fault. But fossils on both sides of fault do not indicate clear age difference and overall displacement along this fault should not be large. We also report results from high-velocity friction experiments conducted on yellowish gouge from the fault zone using a rotary shear low to high-velocity frictional testing apparatus. Dry experiments at normal stresses of 0.4 to 1.8 MPa and at slip rates of 0.08 to 1.35 m/s reveal dramatic slip weakening from the peak friction coeffcient of around 0.6 to very low steady-state friction coeffcient of 0.1–0.2. Slip weakening parameters of this carbonate fault zone are similar to those of clayey fault gouge from Yingxiu-Beichuan fault at Hongkou outcrop and from Pingxi fault zone. Our experimental result will provide a condition for triggering movement of subsidiary faults or off-fault damage during a large earthquake.

电气化铁路弓网系统摩擦磨损性能研究进展

针对电气化铁路弓网正常和异常状态的接触副,分析受电弓滑板磨耗周期内的摩擦磨损性能差异性,特别是受电弓滑板的磨耗率和磨耗型面的差异性,包括:发生异常磨损时受电弓滑板磨损率数倍甚至数十倍的增长差异,以及局部偏磨、波浪型磨耗和贯穿性凹坑等磨耗型面差异;着重归纳不同弓网系统载流摩擦磨损试验台的特点及异同,总结磨耗检测接触式测量方法与非接触式测量方法的优劣;分析弓网系统结构及参数、列车运行参数、弓网系统载流参数及外界环境等因素的影响,归纳总结弓网载流摩擦磨损特性的演变规律.在此基础上,综合分析弓网系统磨耗机理分析模型和数据拟合模型的研究现状和进展,并给出弓网系统载流摩擦磨损性能在后续研究中所需重点关注的研究方向和发展趋势,包括:弓网摩擦副的真实服役工况在实验室条件下的等效模拟;弓网磨耗性能的在线高精度检测;复杂气候条件及多物理场耦合作用下弓网磨耗性能的仿真和优化;结合大数据和智能算法的弓网磨耗预测,以及智能运维策略和全生命周期的能力保持技术等.