@techreport{Rill, type = {Working Paper}, author = {Rill, Georg}, title = {Second-Order Dynamic Friction Model Goes Bi-Dimensional}, address = {Regensburg}, doi = {10.35096/othr/pub-8079}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:898-opus4-80791}, pages = {17}, abstract = {Dynamic friction models can handle not only slip-stick-slip transitions but also stick as long as the external load does not exceed the friction limit. The recently developed second-order dynamic friction model (FrD2) uses two internal states. It models standard friction characteristics by a smooth analytical function, which includes the Stribeck effect and also a viscous component. A horizontal shift of the regularized friction characteristics provides non-vanishing friction forces required to keep stick. Unlike the well-known LuGre model, the FrD2 model reproduces predefined friction characteristics very accurately and shows no drift under pulsating loads. This paper shows how to extend FrD2 to its bi-dimensional version FrD2bd.}, language = {en} } @techreport{Rill, type = {Working Paper}, author = {Rill, Georg}, title = {Second-Order Dynamic Friction Model (FrD2) in a Nutshell}, doi = {10.35096/othr/pub-8077}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:898-opus4-80770}, pages = {9}, abstract = {The well-known LuGre friction model generates dynamic friction forces. This force results from the approximation of the dynamics of a massless fictitious bristle. However, it has several drawbacks and fails to reproduce predefined friction characteristics. The second-order dynamic friction model (FrD2) avoids these drawbacks and accurately reproduces friction characteristics. The FrD2 model is based on a fictitious bristle whose mass automatically adapts to visco-elastic bristle properties. The FrD2 model describes friction characteristics using piecewise-defined analytical functions and applies shifted regularization, which allows for smooth handling of stick-slip transitions. FrD2 parameters can easily be derived from LuGre model parameters.}, language = {en} }