First-order friction models with bristle dynamics: lumped and distributed formulations

TL;DR

This paper develops physically derived first-order dynamic friction models based on bristle dynamics, including a distributed PDE formulation, and validates them against classical experiments and LuGre model predictions.

Contribution

It introduces a novel physically motivated class of friction models, including a distributed PDE formulation, with rigorous stability analysis and validation against experimental data.

Findings

Models closely resemble LuGre behavior

Distributed PDE captures rolling contact friction

Validated models against classical experiments

Abstract

Dynamic models, particularly rate-dependent models, have proven effective in capturing the key phenomenological features of frictional processes, whilst also possessing important mathematical properties that facilitate the design of control and estimation algorithms. However, many rate-dependent formulations are built on empirical considerations, whereas physical derivations may offer greater interpretability. In this context, starting from fundamental physical principles, this paper introduces a novel class of first-order dynamic friction models that approximate the dynamics of a bristle element by inverting the friction characteristic. Amongst the developed models, a specific formulation closely resembling the LuGre model is derived using a simple rheological equation for the bristle element. This model is rigorously analyzed in terms of stability and passivity -- important properties that support the synthesis of observers and controllers. Furthermore, a distributed version, formulated as a hyperbolic partial differential equation (PDE), is presented, which enables the modeling of frictional processes commonly encountered in rolling contact phenomena. The tribological behavior of the proposed description is evaluated through classical experiments and validated against the response predicted by the LuGre model, revealing both notable similarities and key differences.