LuGre or not LuGre
Georg Rill, Thomas Schaeffer, Matthias Schuderer
Abstract
Abstract The LuGre model is widely used in the analysis and control of systems with friction. Recently, it has even been made available in the commercial multibody dynamics simulation software system Adams. However, the LuGre model exhibits well-known drawbacks like too low and force rate-dependent break-away forces, drift problems during sticking periods, and significant differences in non-stationary situations between the pre-defined friction law and the one produced by the LuGre model. In the present literature, these problems are supposed to come from the model dynamics or its nonlinear nature. However, most of these drawbacks are not simple side effects of a dynamic friction model but are caused in the LuGre approach, as shown here, by a too simple and inconsistent model of the bristle dynamics. Standard examples and a more practical application demonstrate that the LuGre model is not a “what you see is what you get” approach. A dynamic friction model with accurate bristle dynamics and consistent friction force is set up here. It provides insight into the physical basis of the LuGre model dynamics. However, it results in a nonlinear and implicit differential equation, whose solution will not be easy because of the ambiguity of the friction characteristics. The standard workaround, a static model based on simple regularized characteristics, produces reliable and generally satisfactory results but definitely cannot maintain a stick. The paper presents a second-order dynamic friction model, which may serve as an alternative. It can maintain a stick and produces realistic and reliable results.