Solid Friction Damping of Mechanical Vibrations
01 Dec 1976-AIAA Journal (American Institute of Aeronautics and Astronautics (AIAA))-Vol. 14, Iss: 12, pp 1675-1682
TL;DR: In this article, a theory of solid friction damping of mechanical vibrations is presented that is based on a solid friction mathematical model previously proposed by the author, and a summary and improved description of the general analytic features of the solid friction model are given as necessary background for the theory.
Abstract: A theory of solid friction damping of mechanical vibrations is presented that is based on a solid friction mathematical model previously proposed by the author. A summary and improved description of the general analytic features of the solid friction model are given as necessary background for the theory. The Coulomb friction damped oscillator is analyzed to establish an approach to the treatment of a simple friction damped oscillator. The approach then is generalized to treat a more general model of friction where the author's model is used to describe friction force primarily as a function of displacement. The solid friction damped oscillator studied is a wire pendulum where solid friction enters via inelastic flexing of the wire at the support. Theoretical results are generalized to be applicable to other types of oscillators and other sources of solid friction. An expression for the decay rate of the oscillation amplitude envelope of an unforced oscillator is derived. The decay rate and an equivalent linear damping ratio are determined for several values of an exponent parameter in the solid friction model.
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TL;DR: This survey is the first to bring to the attention of the controls community the important contributions from the tribology, lubrication and physics literatures, and provides a set of models and tools for friction compensation which will be of value to both research and application engineers.
2,658 citations
TL;DR: This paper reviews friction phenomena and friction models of interest for automatic control, with particular emphasis given to two recently developed dynamic friction models: the Bliman-Sorine model and the LuGre model.
1,575 citations
TL;DR: A force model for needle insertion and experimental procedures for acquiring data from ex vivo tissue to populate that model are presented and the effects of needle diameter and tip type on insertion force are characterized.
Abstract: The modeling of forces during needle insertion into soft tissue is important for accurate surgical simulation, preoperative planning, and intelligent robotic assistance for percutaneous therapies. We present a force model for needle insertion and experimental procedures for acquiring data from ex vivo tissue to populate that model. Data were collected from bovine livers using a one-degree-of-freedom robot equipped with a load cell and needle attachment. computed tomography imaging was used to segment the needle insertion process into phases identifying different relative velocities between the needle and tissue. The data were measured and modeled in three parts: 1) capsule stiffness, a nonlinear spring model; 2) friction, a modified Karnopp model; and 3) cutting, a constant for a given tissue. In addition, we characterized the effects of needle diameter and tip type on insertion force using a silicone rubber phantom. In comparison to triangular and diamond tips, a bevel tip causes more needle bending and is more easily affected by tissue density variations. Forces for larger diameter needles are higher due to increased cutting and friction forces.
777 citations
TL;DR: An overview of the acoustics of friction is presented by covering friction sounds, friction-induced vibrations and waves in solids, and descriptions of other frictional phenomena related to acoustic.
Abstract: This article presents an overview of the acoustics of friction by covering friction sounds, friction-induced vibrations and waves in solids, and descriptions of other frictional phenomena related to acoustics. Friction, resulting from the sliding contact of solids, often gives rise to diverse forms of waves and oscillations within solids which frequently lead to radiation of sound to the surrounding media. Among the many everyday examples of friction sounds, violin music and brake noise in automobiles represent the two extremes in terms of the sounds they produce and the mechanisms by which they are generated. Of the multiple examples of friction sounds in nature, insect sounds are prominent. Friction also provides a means by which energy dissipation takes place at the interface of solids. Friction damping that develops between surfaces, such as joints and connections, in some cases requires only microscopic motion to dissipate energy. Modeling of friction-induced vibrations and friction damping in mechanical systems requires an accurate description of friction for which only approximations exist. While many of the components that contribute to friction can be modeled, computational requirements become prohibitive for their contemporaneous calculation. Furthermore, quantification of friction at the atomic scale still remains elusive. At the atomic scale, friction becomes a mechanism that converts the kinetic energy associated with the relative motion of surfaces to thermal energy. However, the description of the conversion to thermal energy represented by a disordered state of oscillations of atoms in a solid is still not well understood. At the macroscopic level, friction interacts with the vibrations and waves that it causes. Such interaction sets up a feedback between the friction force and waves at the surfaces, thereby making friction and surface motion interdependent. Such interdependence forms the basis for friction-induced motion as in the case of ultrasonic motors and other examples. Last, when considered phenomenologically, friction and boundary layer turbulence exhibit analogous properties and, when compared, each may provide clues to a better understanding of the other.
481 citations
TL;DR: In this article, the authors review properties of the LuGre model, including zero-slip displacement, invariance, and passivity, and show that stick-slink motion is a stiff system with different behavior in the stick and slip modes as well as dramatic transitions between these modes.
Abstract: In this article we first review properties of the LuGre model, including zero-slip displacement, invariance, and passivity. An extension to include velocity-dependent microdamping is also discussed. The resulting model is then used to analyze stick-slip motion. The analysis shows that stick-slip motion modeled by the LuGre model is a stiff system with different behavior in the stick and slip modes as well as dramatic transitions between these modes. The dependence of limit cycles on parameters is discussed along with the notion of rate dependence.
462 citations
Cites background from "Solid Friction Damping of Mechanica..."
...The Dahl model [23], [24], developed in the late 1960s, is a simple dynamic model with one state and is widely used to simulate aerospace systems [23], [25]....
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References
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01 May 1968
TL;DR: In this paper, a model is developed for sliding and rolling friction that can be used in simulations of dynamic systems involving mechanical elements that are subject to friction, including coulomb friction and the so-called "stiction", as well as rolling friction are believed to be realistically simulated by the model.
Abstract: : A model is developed for sliding and rolling friction that can be used in simulations of dynamic systems involving mechanical elements that are subject to friction. Sound bases for the model are developed around the hypothesis that the origin of friction is in quasi static contact bonds that are continuously formed and subsequently broken. Sliding friction, including coulomb friction and the so-called 'stiction,' as well as rolling friction are believed to be realistically simulated by the model. The model has been proven to accurately simulate transient torque and rate measurements on ball bearings tested in the laboratory.
737 citations
462 citations
TL;DR: In this paper, conditions under which limit cycles may be caused by the friction torque of the control moment gyroscope (CMG) output gimbal used in the Large Space Telescope (LST).
Abstract: Conditions are predicted under which limit cycles may be caused by the friction torque of the control moment gyroscope (CMG) output gimbal used in the Large Space Telescope (LST). The parameter plane analysis technique is described, and three separate models of the CMG output friction nonlinearity are used in three separate analyses. The results suggest that the Dahl model (included in model 3) is the best available friction model for use in dynamic analysis. The analysis and analog simulation indicate the absence of limit cycle behavior due to the CMG output gimbal friction nonlinearity for presently estimated LST numerical parameters and the occurrence of one stable and one unstable limit cycle if substantially larger numerical values are allowed for the CMG gimbal pivot friction parameter and/or the running friction torque.
15 citations
05 Aug 1974
14 citations
01 Feb 1975
13 citations