Stick-slip instability analysis

A theoretical investigation of friction-induced self-excited oscillations for systems with one degree of freedom is proposed. The friction force is assumed as an odd function of the relative sliding velocity with a jump discontinuity at a value of zero for the relative sliding velocity. The friction characteristic is approximated with a piecewise linear function, i.e. straight line segments with a suitable slope. For the generic system belonging to the class in question, the stick-slip instability region is located on a suitable dimensionless map.

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Sommario Viene proposta un'indagine teorica sulle oscillazioni autoeccitate indotte dall'attrito per sistemi ad un grado di libertà. La forza d'attrito viene assunta come funzione dispari della velocità relativa tra le superfici accoppiate, con una discontinuità di prima specie in corrispondenza del valore nullo della velocità. La caratteristica d'attrito viene approssimata mediante una funzione lineare a tratti con segmenti di opportuna pendenza. Per il generico sistema appartenente alla classe in esame, si perviene all'individuazione, su opportuna mappa adimensionale, della regione di instabilità da stick-slip.

     

Frictional Phenomena in Dynamical Systemwith Two-Frequency Excitation

The paper deals with investigation of a self-excited vibrating system with dry friction. The system is composed of a mass connected by viscoelastic element with the referring frame and interacting with a moving belt by means of dry friction. An experimentally identified, multi-parametric dry friction model for the pair composed of soft and hard elements like steel–polyester pair, describing both the case of stick-slip and quasi-harmonic vibration, has been applied. Additionally, the system is influenced by external, two-frequency kinematic excitation. The results of computer simulation for different excitation conditions are submitted in the present paper.     

Oscillation pattern of stick-slip vibrations

This paper studies the stick-slip oscillations of discrete systems interacting with translating energy source through a non-linear smooth friction curve. The stick-slip limit cycle oscillations of a single degree-of-freedom model are examined by means of numerical time-integration and analytical methods. Similar approaches are also applied to the model of the coupled friction oscillator. Particularly, it is found that the steady-state response of the coupled oscillator can be divided into two different forms of oscillation (mode-merged and mode-separated oscillations) according to the frequency separation of two modes. The oscillation pattern of the steady-state response is shown to depend on system parameters such as detuning factor, energy source speed, and normal contact load.     

A minimal model for studying properties of the mode-coupling type instability in friction induced oscillations

A minimal two degree of freedom model is used to clarify from an intuitive perspective the physical mechanisms underlying the mode-coupling instability of self-excited friction induced oscillations. It is shown that simultaneous out-of-phase oscillations of friction force and displacement tangential to the friction force may lead to energy transfer from the frictional system to vibrational energy. Also it is shown that the friction force acts like a cross-coupling force linking motion normal to the contact surface to motion parallel to it and that a necessary condition for the onset of instability is that these friction-induced cross-coupling forces balance the corresponding structural cross-coupling forces of the system. Finally the origin and the role of phase shifts between oscillations normal and parallel to the contact surface is clarified with respect to the mode-coupling instability. It may be expected that the intuitive picture gained will be of considerable help for practical design purposes.     

A new criterion for occurrence of strick-slip motion in drive mechanism

This paper, using Karnopp's model of friction force and phase plane method, studies the stick-slip motion of the flexble drive mechanism. It is explained that a sudden drop of friction force is the essential source of stick-slip motion when the sliding is impending. A new criterion for occurrence of stick-slip motion is established. The stick-slip region and the stable region in a parameter plane are separated by a critical parameter curve. Moreover, for the stick-slip motion of the flexible drive mechanism without viscous damping, a parameter expression is obtained. The results may be used in design of the flexible drive mechanism.     

Interaction between torsional and lateral vibrations in flexible rotor systems with discontinuous friction

In this paper, we analyze the interaction between friction-induced vibrations and self-sustained lateral vibrations caused by a mass-unbalance in an experimental rotor dynamic setup. This study is performed on the level of both numerical and experimental bifurcation analyses. Numerical analyses show that two types of torsional vibrations can appear: friction-induced torsional vibrations and torsional vibrations due to the coupling between torsional and lateral dynamics in the system. Moreover, both the numerical and experimental results show that a higher level of mass-unbalance, which generally increases the lateral vibrations, can have a stabilizing effect on the torsional dynamics, i.e. friction-induced limit cycling can disappear. Both types of analysis provide insight in the fundamental mechanisms causing self-sustained oscillations in rotor systems with flexibility, mass-unbalance and discontinuous friction which support the design of such flexible rotor systems.     

时变接触特性表面对界面摩擦学行为的影响

通过在锻钢基材表面沟槽中分别填充灰铸铁HT300、Mn-Cu合金和Mn-Cu阻尼合金材料获得具有时变接触特性的表面,并对锻钢光滑表面试样和时变接触特性表面进行摩擦学试验,研究不同时变接触特性表面对界面摩擦学行为(摩擦噪声、摩擦振动以及磨损行为)的影响. 结果表明:填充HT300的时变接触特性表面缓解了界面磨损,有效延续摩擦系统的稳定状态,抑制摩擦振动和噪声的产生;相反,填充Mn-Cu合金和填充Mn-Cu阻尼合金的时变接触特性表面加剧了界面磨损,加速了摩擦系统不稳定状态的出现,进而激发出高强度的摩擦振动和噪声. 在本研究中,摩擦系统失稳引起摩擦振动和噪声主要归因于摩擦磨损过程中黏着撕裂和犁削等界面作用,填充材料的阻尼特性未能起到减振降噪的效果.      

接触共振频率与摩擦噪声频率之间关系的试验研究

在金属往复滑动试验机上用2种尺寸不同和结构略有差别的球-平面摩擦副系统,对接触共振与摩擦噪声的相关性进行了试验研究.结果表明:摩擦系统的接触共振频率非常接近于摩擦噪声频率,两者相对误差不大于2%~5%.对发生尖叫噪声的磨痕形貌进行SEM扫描电镜分析发现:摩擦噪声的发生与摩擦过程中微凸体之间的锤击相互作用有着密切的联系,通过接触共振试验可以辨识实际滑动摩擦系统中最容易发生摩擦噪声的模态频率.     

Friction-induced limit cycling in flexible rotor systems: An experimental drill-string set-up

Friction-induced limit cycling deteriorates system performance in a wide variety of mechanical systems. In this paper, we study the way in which essential friction characteristics affect the occurrence and nature of friction-induced limit cycling in an experimental drill-string set-up. This study is performed on the level of a Lyapunov-based stability analysis and on the level of both numerical and experimental bifurcation analyses. The synthesis of these results confirms that friction-induced limit cycling is due to a subtle balance between negative damping at lower velocities and viscous friction at higher velocities. Moreover, it is shown how these essential friction characteristics depend on physical conditions such as temperature and normal forces in the frictional contact in the experimental set-up.This work was performed while affiliated to the Eindhoven University of Technology.     

单晶硅滑动磨损性能及其相变研究

考察了单晶硅在室温和低接触应力条件下的摩擦磨损行为随速度的变化情况．结果表明，单晶硅的摩擦系数和磨损率随滑动速度的提高而呈现降低趋势；单品硅在低速、短滑动时间下的磨损表面形貌特征以微断裂为主，并伴有一定程度的塑性变形;随着滑动时间的延长，塑性变形特征逐渐减弱，塑性变形同具有金属延性特征的p—Sn(简称si—II)相密切相关，Si—II在滑动过程中可转变为体心立方结构(简称Si-III)、斜方六面体结构(简称Si—XII)和非晶硅相;在高速条件下，单晶硅磨损表面呈现微断裂和较弱的塑性变形特征；尽管通过Raman分析证实磨损表面存在si—III相，但其对磨损机制的影响有待于进一步研究．     

The frequency response of dynamic friction: A new view of sliding interfaces

Any attempt to predict friction-induced vibration, such as brake squeal in vehicle systems, requires as input some information about the dynamic friction force at the sliding interface. If the concern is only with the threshold of instability based on linearised theory, the quantity required is a type of frictional frequency response function over the range of possible unstable frequencies. This quantity has not previously been measured, and this paper reports the development and testing of a novel tribometer to measure it. Based on the concept of a pin-on-disc machine, controlled fluctuations in sliding speed are applied using an actuator and the resulting fluctuations in friction force are monitored in amplitude and phase. Sample results are shown, revealing parameter dependence, which is in some cases strikingly different from that of the mean friction force. The device has potential for providing necessary data on friction materials and also for discriminating between rival proposed theoretical models for dynamic friction.     

A damage constitutive model for sliding friction coupled to wear

Several new constitutive models are formulated for the planar interface of a soft body sliding on a rigid soil, describing stick-slip phenomena due to friction, and wear due to abrasion. Attention is focused on damage at the interface, by neglecting any interaction with damage of body and any propagation of damage inside the body. Models are formulated in the general framework of the Thermodynamics of the irreversible processes and account for suitable defined internal variables of phenomenological type, namely gap, isotropic friction hardening and wear. The main feature of the new presented models is that the formulation of the wear process at the interface is obtained in the contest of Damage Mechanics, and it is based on the formal analogy between abrasion of a soft body and ductile damage of an elastic-plastic material. By following this approach, a scalar wear field, an effective stress and appropriate state and dissipation potentials are defined, able to describe a tangential isotropic wear process due to stick-slip and to hardening mechanism. Both cases of linear and nonlinear friction hardening are formulated; moreover, wearable and no-wearable bodies are considered. Numerical results relevant to one-dimensional problems are illustrated for monotonic, forward-backward and cyclic displacement time-histories, showing evolution for stress, gap and wear. Results furnished by different models are compared and discussed.     

Fe/PTFE复合材料的摩擦诱导磁化及摩擦学性能

研究了Fe/PTFE复合材料在摩擦过程中的摩擦诱导磁化行为,主要探讨了滑动速度、载荷以及填料含量对摩擦磁化的影响.结果表明:随着载荷的增加,复合材料的摩擦诱导磁感应强度呈缓慢上升趋势,载荷超过2.5MPa后会略有下降;而随着摩擦线速度的增加,复合材料的摩擦诱导磁感应强度逐渐变小;此外随着填料含量的增加,复合材料的摩擦诱导磁感应强度逐渐增加.含铁磁性填料的聚合物复合材料的摩擦诱导磁化行为会促进摩擦转移膜的形成和稳定,从而对减小摩擦降低磨损产生有益的影响.     

振动驱动移动机器人直线运动的滑移分岔

近年来,随着移动型机器人设计技术水平的不断提高,其运动形式日趋多样. 借助于仿生学的思想,模仿蚯蚓等动物的蠕动成为不少机器人设计者所追求的目标. 为了实现这一目标,学者们提出并研究了振动驱动系统. 本文研究了各向同性干摩擦下,单模块三相振动驱动系统的粘滑运动. 考虑到库伦干摩擦力的不连续性,振动驱动系统属于Filippov 系统. 基于此,运用Filippov 滑移分岔理论,分析了振动驱动系统不同的粘滑运动情况. 根据驱动参数的不同,系统运动的滑移区域被分成4 种基本情形. 对这些情形分类讨论,得到系统的6 种运动情况. 然后对这6 种运动情况进行归纳,最终得出系统一共存在4 种不同的粘滑运动,而且也解析地给出了发生这4 种粘滑运动的分岔条件. 分岔条件包含系统的3 个驱动参数,通过变化这些参数,得到了系统运动的分岔图. 借助分岔图,详细分析了随着驱动参数的变化,系统如何实现不同粘滑运动类型之间的切换,并从分岔角度给出了相应的物理解释. 最后,通过数值方法直接求解原运动方程,数值解法得到的4 种运动图像与理论分析一致,验证了系统运动分岔研究的正确性.      

基于有限元模拟的SUS304奥氏体不锈钢摩擦耦合变形过程的应力分析

采用ANSYS/LS-DYNA软件对SUS 304奥氏体不锈钢薄板的摩擦耦合变形过程进行了数值模拟.采用隐式-显式序列求解法和分段线性塑性材料模型,分析了钢带摩擦耦合变形时的应力分布规律及载荷、下压量和滑动速度等因素对钢带剪应力、主应力及等效应力的影响.结果表明:摩擦耦合变形的试验参数显著影响钢带的应力分布,验证了钢带在低于其屈服强度的应力条件下发生塑性变形的摩擦诱发效应.对奥氏体不锈钢摩擦诱发马氏体转变行为的研究及其摩擦学性能的改善具有一定的指导意义.     

Experimental investigation of a single-degree-of-freedom system with Coulomb friction

This paper presents an experimental investigation of the dynamic behaviour of a single-degree-of-freedom (SDoF) system with a metal-to-metal contact under harmonic base or joined base-wall excitation. The experimental results are compared with those yielded by mathematical models based on a SDoF system with Coulomb damping. While previous experiments on friction-damped systems focused on the characterisation of the friction force, the proposed approach investigates the steady response of a SDoF system when different exciting frequencies and friction forces are applied. The experimental set-up consists of a single-storey building, where harmonic excitation is imposed on a base plate and a friction contact is achieved between a steel top plate and a brass disc. The experimental results are expressed in terms of displacement transmissibility, phase angle and top plate motion in the time and frequency domains. Both continuous and stick-slip motions are investigated. The main results achieved in this paper are: (1) the development of an experimental set-up capable of reproducing friction damping effects on a harmonically excited SDoF system; (2) the validation of the analytical model introduced by Marino et al. (Nonlinear Dyn, 2019. https://doi.org/10.1007/s11071-019-04983-x) and, particularly, the inversion of the transmissibility curves in the joined base-wall motion case; (3) the systematic observation of stick-slip phenomena and their validation with numerical results.     

Coupled axial-torsional dynamics in rotary drilling with state-dependent delay: stability and control

Nonlinear motions of a rotary drilling mechanism are considered, and a two degree-of-freedom model is developed to study the coupled axial-torsional dynamics of this system. In the model development, state-dependent time delay and nonlinearities that arise due to dry friction and loss of contact are considered. Stability analysis is carried out by using a semi-discretization scheme, and the results are presented in terms of stability volumes in the three-dimensional parameter space of spin speed, cutting depth, and a cutting coefficient. These stability volume plots can serve as a guide for choosing parameters for rotary drilling operations. A control strategy based on state and delayed-state feedback is presented with the goal of enlargening the stability region, and the effectiveness of this strategy to suppress stick-slip oscillations is illustrated.     

Phase-Space Reconstructions and Stick-Slip

Nonsmooth processes such as stick-slip may introduce problems with phase-space reconstructions. We examine chaotic single-degree-of-freedom stick-slip friction models and use the method of delays to reconstruct the phase space. We illustrate that this reconstruction process can cause pseudo trajectories to collapse in a way that is unlike, yet related to, the dimensional collapse in the original phase-space. As a result, the reconstructed attractor is not topologically similar to the real attractor. Standard dimensioning tools are applied in effort to recognize this situation. The use of additional observables is examined as a possible remedy for the problem.     

Bifurcation and stability analysis for a non-smooth friction oscillator

Summary Friction-induced self-sustained oscillations, also known as stick-slip vibrations, occur in mechanical systems as well as in everyday life. On the basis of a one-dimensional map, the bifurcation behaviour including unstable branches is investigated for a friction oscillator with simultaneous self-and external excitation. The chosen way of mapping also allows a simple determination of Lyapunov exponents.Dedicated to Prof. Dr.-Ing. Dr.-Ing. E.h. Dr. h.c. mult. Erwin Stein on the occasion of his 65th birthday.     

Thermoelastic Contact of a Shroud Ring and a Cylinder under Unsteady Friction-Induced Heat Release

Mathematical formulation is performed and a solution is found for a quasi-static thermoelastic problem of contact interaction of an elastic shroud ring and a hollow circular cylinder inserted into this ring, which are compressed by a load varied along the axis of the system, under the condition of an unloaded contact over the ring surface or over the circumference contour. The radial displacements of the contact surface of the shroud ring are approximated by displacements of the surface of a long circular hollow cylinder. Unsteady friction-induced heat release caused by the action of friction forces owing to shroud ring rotation over the cylinder with a time-dependent low angular velocity is taken into account. The problem is reduced to a system of integral equations whose structure is determined by the form of thermophysical contact conditions. A numerical algorithm of the solution is proposed, and the influence of the problem parameters on the contact pressure and temperature distributions is considered. Based on an analysis of results, a conclusion is made that the character of axial variation of the compressing load has a significant effect on the distribution of contact pressure in describing the kinematic condition of interaction of bodies in accordance with Hertz’s theory.__________Translated from Prikladnaya Mekhanika i Tekhnicheskaya Fizika, Vol. 46, No. 4, pp. 161–178, July– August, 2005.