Publication: Digital Twin of the Drive System, Considering the Forces of Various Nature
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2021
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© 2020 Elsevier B.V.. All rights reserved.Among the factors limiting the use of sliding seal actuators in robotic positioning systems, the main ones are two the compressibility of the working fluid (air or liquid) and friction. This article discusses the problem of choosing a friction model for solving problems of controlling positional systems, primarily with a pneumatic drive based on a digital twin - a detailed mathematical model. Friction is usually described as the process of mechanical interaction of touching bodies at their relative displacement in the plane of contact (external friction), or at the relative displacement of parallel layers of a liquid, gas, or deformable solid (internal friction, or viscosity). In most cases, friction is a useful phenomenon, making many common things possible, such as walking and braking on a car. On the other hand, friction can also cause undesirable consequences. For example, for high-precision mechanical systems, friction can degrade the overall performance of the system. The influence of friction is manifested by undesirable effects in the form of limit cycles, deviations in movement from a given trajectory, a decrease in positioning accuracy, etc. As one of the models a rather complex dynamic model of friction - the LuGre model was analyzed, which is widely used in many works. However, the authors stopped in this case with the simpler Karnopp model, which has the advantage of describing the interaction with the friction forces in the processes of transition from a state of rest to motion and vice versa. A general approach to the study of the dynamics and accuracy of the positional system is proposed, based on the use of a rationalized dimensionless mathematical model of the drive. Several numerical experiments were carried out on the obtained model, considering friction forces. Numerical experiments are shown in graphs.
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Kreinin, G. V. Digital Twin of the Drive System, Considering the Forces of Various Nature / Kreinin, G.V., Nosova, N.Y., Misyurin, S.Y. // Procedia Computer Science. - 2021. - 190. - P. 611-621. - 10.1016/j.procs.2021.06.072