Rigid body impact with moment of rolling friction

In this paper, the impact between a rigid pendulum and rough surfaces is studied. The rolling friction moment and the coefficient of rolling friction are introduced, and an improved mathematical model of the planar impact with friction is presented. The influence of the moment of rolling friction on the energy dissipated by friction during the impact is analyzed. For a simple pendulum, using the energetic coefficient of restitution, more energy is dissipated for larger values of the coefficient of kinetic friction and contact radius, and for smaller values of the length of the beam. For a double pendulum using the kinematic coefficient of restitution, some energetically inconsistent results can be solved for some values of the coefficient of rolling friction.     

Stick-Slip Vibrations Induced by Alternate Friction Models

In the present paper a simple and efficient alternate friction model is presented to simulate stick-slip vibrations. The alternate friction model consists of a set of ordinary non-stiff differential equations and has the advantage that the system can be integrated with any standard ODE-solver. Comparison with a smoothing method reveals that the alternate friction model is more efficient from a computational point of view. A shooting method for calculating limit cycles, based on the alternate friction model, is presented. Time-dependent static friction is studied as well as application in a system with 2-DOF.     

机械系统中摩擦模型的研究进展

摩擦现象在机械系统中的作用日益突出, 合理地解决机械系统中摩擦环节尤其是非线性摩擦环节的制约问题 已成为当前研究的重点. 由于摩擦的复杂性, 很难从机理上获得其准确唯一的数学模型, 迄今已提出的摩擦模 型有数十种. 鉴于目前机械系统中摩擦建模的发展状况, 首先描述了几种重要的摩擦现象, 如库仑摩擦、黏性 摩擦、Stribeck效应、预滑动摩擦、可变的静态摩擦力和摩擦记忆效应等. 其次, 系统地介绍了几种较为重要的、 常用的摩擦模型, 包括6种静态摩擦模型和7种动态摩擦模型, 并对每一种模型的构成, 特点和适用范围等 进行了较为详细地论述. 比较而言, 静态摩擦模型结构简单, 参数辨识容易, 但是无法描述摩擦的动态特性, 动态摩擦模型能够比较全面的描述摩擦现象, 但结构复杂, 参数辨识难度较大. 再次, 简要概述了摩擦建模 对机械系统动力学行为的影响, 以及在高精度定位系统的控制中的作用. 最后, 针对当前机械系统中摩擦建 模方面存在的一些不足提出了几点展望. 为今后摩擦模型的选用和新摩擦模型的建立提供了参考.     

Dynamic Modes of One Seismic-Damping Mechanism with Frictional Bonds

The possible states of a system of interacting solids with rolling friction and unilateral sliding friction bonds are analyzed. The system can be used for seismic isolation of buildings. The structures (modes) of motion are established. The basic analytical relations are derived, which are needed to construct a dynamic model of variable structure     

振动摩擦机理及其非线性动力学特性

本文揭示了振动工况下散体物料的振动摩擦机理,给出了振动参数与土壤内摩擦力的关系曲线,并用数值试验方法模拟了复杂的振动摩擦压实过程,分别给出了振频和振幅对土壤孔隙比和轴向应力均值的关系曲线,验证了振动压实减摩机理的正确性.结果表明:松散物料在振动工况下,其颗粒间的摩擦力由静摩擦力转变为动摩擦力,随着振频和振幅的增加,摩擦阻力减小,从而土的内摩擦力减小,并且存在最优的振动强度使土壤在振动压实过程中的内摩擦力最小.建立了基于振动压路机的振动摩擦系统非线性动力学模型,利用渐进法得到了振动压实过程的共振响应和非共振响应.     

Selecting the Coefficients of Sliding Friction in the Problem on Frictional Interaction of Three Solids

The choice of the coefficients of sliding friction in the static equilibrium problem for a system of three solids with friction at two points is discussed. This system simulates the mechanism of gravitational seismic isolation of a solid. It is shown that the coefficients of friction must be identical at both points of frictional contact irrespective of the type of the material and surface finish. A formula for the balanced coefficient of friction is derived based on experimental data     

考虑接触界面材料微观结构与势能参数的滑动摩擦计算研究

根据独立振子模型的能量耗散机理,提出了在无磨损界面摩擦中,利用通用界面粘附能量函数计算滑动时接触界面势能的变化从而计算摩擦力和摩擦系数的方法,建立摩擦力和摩擦系数与金属材料表面能与微观结构参数的关系,并利用已有的实验数据进行计算.结果表明,摩擦力与金属材料的表面能基本呈线性关系,与比例参数呈线性负相关关系,与晶格常数基本无关.计算结果与粘附理论公式以及超高真空原子力显微镜试验结果吻合较好.     

几何非线性摩擦阻尼隔振系统动力学行为研究

非线性隔振系统由于具有较线性系统更优的隔振性能,因此在工程中应用广泛.本文通过配置与被隔振对象的运动方向相垂直的库伦摩擦阻尼器,构建了几何非线性摩擦阻尼模型.由于引入了几何非线性,因此其摩擦力与位移正相关,这与传统与位移无关摩擦力模型有显著不同.首先,建立了具有几何非线性摩擦阻尼的数学模型以及隔振系统的受迫振动方程;然后,使用谐波平衡法求解了动力学方程,并使用数值仿真方法验证了谐波平衡法求解的准确性;最后,研究了几何非线性摩擦阻尼隔振器的绝对位移传递率和相对位移传递率.研究结果表明,在库伦摩擦阻尼选择适当,非线性摩擦阻尼系统可以在保持高频振动衰减效果的前提下,显著降低系统共振峰,其性能优于传统的恒定摩擦阻尼隔振模型.同时,几何非线性摩擦阻尼系统能够避免传统摩擦阻尼系统中的“锁定”现象,从传递率角度来说,不利于共振峰控制;但从激励环境改变引发隔振系统失效的角度来看,几何非线性摩擦阻尼系统可以拓宽系统对激励幅值的适应范围,避免隔振系统失效.本文的研究结果对此类隔振系统的设计和摩擦阻尼参数的选择具有通用的指导意义.      

SiCH油/TiN薄膜复合体系的摩擦学性能研究

本文中采用多弧离子镀TiN薄膜对钢基体进行表面改性与SiCH润滑油相结合的方式,研究了SiCH油/TiN薄膜复合体系的真空摩擦学性能,并分析了该复合润滑体系的摩擦磨损机理.研究表明:在SiCH油/TiN薄膜复合体系中,摩擦副对偶双方表面均采用TiN薄膜进行改性后,由于TiN薄膜具有良好的稳定性和耐磨性,与SiCH润滑油构成的复合润滑体系在长寿命摩擦试验中表现出良好的减摩抗磨性能,平均摩擦系数约0.07,在经过1.8×10~6r的摩擦试验后,尽管SiCH油中形成了微量的多甲基基团的硅碳化合物Si-[R-(CH_3)_3]_3并未影响其良好的润滑性能,表明SiCH油/TiN薄膜复合体系耐磨寿命高达1.8×10~6r以上.     

高能炸药摩擦感度的数值模拟

为了研究炸药摩擦安全性,利用熔化摩擦模型对几种高能炸药的摩擦感度进行了数值模拟,结果符合实验,并根据热分解反应速率分析了感度规律。由于炸药熔点一般低于点火温度,所以基于一个考虑熔化现象的炸药摩擦模型,在炸药感度实验条件下进行了一维数值模拟,给出了炸药熔化结果和摩擦点火的时间:4种摩擦感度较弱的炸药包括DATB、NQ、TATB和TNT的点火时间的顺序即感度顺序符合实验结果,说明摩擦点火模型适应性。进一步结合炸药热分解反应速率的大小顺序,数值模拟证明,在一定摩擦强度下,点火顺序会发生交换,说明摩擦感度实验不能完全说明炸药摩擦感度强弱顺序。     

汽车发动机活塞裙部-缸套系统摩擦学仿真分析和减摩设计

摩擦学在降低发动机摩擦损失和提高系统可靠性方面具有很大的潜力.本文以汽车发动机活塞裙部-缸套系统为对象,以寻求降低该系统摩擦损失的技术方案为目标,考虑各种因素建立了内燃机活塞裙部混合润滑模型.利用该模型,对活塞裙部型面的改进设计进行了探索,并据此确定了某款发动机活塞的改进方案.仿真结果表明：所提出的改进方案,均能实现显著降低活塞裙部-缸套系统摩擦损失的目标,最大降幅达到45.5%.     

Nonlinear dynamics of an elastic rod with frictional impact

A model is presented for the impact with friction of a flexible body in translation and rotation. This model consists of a system of nonlinear differential equations which considers the multiple collisions as well as frictional effects at the contacting end, and allows one to predict the rigid and elastic body motion after the impact. The kinetic energy is derived by utilizing a generalized velocity field theory for elastic solids. The model uses a dry coefficient of friction and a nonlinear contact force. We introduce a finite number of vibrational modes to take into account the vibrational behavior of the body during impact. The vibrations, the multiple collisions, and the angle of incidence angle, are found to be important factors for the kinematics of frictional impact. Analytical and experimental results were compared to establish the accuracy of the model.     

Simulation of friction and stiction in multibody dynamics model problems

A continuous model of Coulomb friction is used with a tangent space formulation of differential algebraic equations of motion for simulation of multibody dynamic model problems. Characteristics of the model problems studied are similar to those encountered in broad classes of multibody systems, without the associated geometric and analytical complexities. An implicit trapezoidal numerical solution algorithm is used to simulate dynamic response that includes the onset of stiction, its progression, and its termination, avoiding stiff behavior that is reported in the literature when index 3 formulations are used. Analytical criteria for stiction are derived for a three mass Coulomb friction model problem that defines the onset of and departure from stiction events with redundant equations of constraint. The tangent space formulation with implicit trapezoidal integration is applied to this analytical model to compute dynamic response, determine ranges of constraint forces that may occur during periods of stiction, and demonstrate that dynamic response is a discontinuous function of model parameters when stiction occurs. Accuracy of the continuous model of Coulomb friction is established, through comparison of results with those of the analytical model. Cartesian coordinate models of higher dimension are presented for three and four mass model problems that encounter a higher degree of redundancy in constraints during periods of stiction. Simulation of the Cartesian coordinate models, which have characteristics similar to more general multibody systems, yields accurate solutions, without any indication of stiffness in the tangent space equations of motion. Methods successfully demonstrated in model problems provide a foundation for simulation of spatial multibody dynamic systems with friction.     

考虑关节摩擦的空间机器人动力学建模与参数辨识

研究了考虑关节摩擦影响的空间机器人系统的动力学建模与参数辨识问题．采用单向递推组集方法和虚功率原理建立了含有关节摩擦的多体系统动力学方程,推导了关节摩擦对系统动力学方程的贡献,采用基于腕力传感器信号和最小二乘法的辨识方法进行了系统惯性参数的辨识．数值仿真结果验证了数学模型的正确性与辨识方法的有效性．     

Friction coefficient and error test via micro-rotation mechanics model

An air pressure-loading mode incorporated into the friction apparatus is firstly applied to coatings tribology involving large load, automation, stepless and continuous loading processes. A novel measurement principle is proposed and a micro-rotation mechanics model was developed for high precision measurement of friction coefficient. By properly designing and locating two sensors real-time monitoring the normal and friction forces, the troublesome influences in friction measurement is considerably relieved which come from surface characteristics of coatings of the samples in traditional friction test processes. By calculation and analysis, the max rotation angle θ_max = 0.0018° is gained, which indicates that the measurement error of the apparatus is greatly reduced. The whole system error is about 1.15% given by finite element method and indication error of the least square fitting of measurements.     

High-speed frictional slip at metal-on-metal interfaces

In this study plate-impact pressure-shear friction experiments are employed to investigate dynamic slip resistance and time-resolved growth of molten metal films during dry metal-on-metal slip under extreme interfacial conditions. By employing a tribo-pair comprising of a hard tool-steel against a relatively low melt-point metal (7075-T6 Al alloy), interfacial normal stress of up to 5 GPa and slip speeds of approximately 250 m/s have been achieved. These extreme interfacial conditions are conducive to the development of molten metal film at the tribo-pair interface. A Lagrangian finite element code is developed to understand the evolution of the thermo-mechanical fields and their relationship to the observed slip response. The code accounts for dynamic effects, heat conduction, contact with friction, and full thermo-mechanical coupling. At temperatures below the melting point of the tribo-pair materials are described as isotropic, thermally softening, elastic–viscoplastic solids. For material elements with temperatures in excess of the melt temperature a purely Newtonian fluid constitutive model is employed.     

沟槽型织构化表面摩擦噪声特性试验研究

用电火花加工方法在制动盘蠕墨铸铁材料表面加工出不同沟槽宽度和间距的沟槽型表面织构,在自行研制的新型摩擦噪声试验装置上,采用球-平面接触方式,选取直径10 mm的GCr15球为对摩副,对沟槽型织构表面和光滑表面进行摩擦噪声对比试验,研究沟槽型织构对摩擦噪声的影响.结果表明:本试验条件下沟槽型表面织构的尺寸及分布对摩擦噪声具有重要影响,一定尺寸及分布的织构表面可明显降低摩擦噪声.本试验条件下的摩擦噪声产生主要归因于接触表面的不平顺、磨屑层不均匀分布以及犁削作用等界面因素,这些因素导致了界面摩擦力高频成分的产生,当其与系统的自然频率耦合时,将引起摩擦系统强烈的自激振动并最终产生摩擦噪声.而摩擦界面存在尺寸分布合理的沟槽型表面织构,将能提高界面排屑能力并打断摩擦界面连续的接触,扰乱摩擦系统的自激振动,抑制摩擦噪声的产生.     

A modified LuGre friction model for an accurate prediction of friction force in the pure sliding regime

We propose a new friction model based on the well known LuGre friction model that can accurately describe the nature of friction force in the gross sliding regime. The modification is based on the responses observed from a single degree-of-freedom friction-induced vibration system. Numerical analysis shows that the friction curve in the gross sliding regime can only show counter clockwise hysteretic loops without violating other essential features. We then develop a new friction model by modifying the LuGre friction model that can describe both clockwise as well as counter clockwise hysteretic loops in the pure sliding domain.     

体外预应力梁摩擦效应的非线性分析

构造了简单的体外预应力梁的摩擦单元,摩擦单元位于转向块和体外筋之间的角平分线上,能模拟转向块和体外筋之间的有摩擦或无摩擦滑移。考虑混凝土、钢筋和体外筋应力-应变的非线性关系,采用梁截面弯矩-轴力-曲率的三折线模型,探讨了体外预应力梁的性能。对简支梁和连续梁的不同因素进行计算,包括不同摩擦系数、不同体外筋和钢筋面积、不同偏心距以及对称和非对称荷载形式。计算结果表明,对于简支梁和对称荷载下的连续梁,承载力的摩擦效应可以忽略,最大预应力增量和挠度的摩擦效应不宜忽略,最小预应力增量的摩擦效应明显;对于非对称荷载下的连续梁,承载力、最大和最小预应力增量以及挠度的摩擦效应不可忽略。     

Part 2: Proper Orthogonal Modal Modeling of a Frictionally Excited Beam

Proper orthogonal modes (POMs) are used for order reduction ina beam with frictional excitation. The distributed model is based on anEuler–Bernoulli beam with frictional excitation. The friction ismodeled with Coulomb's law and contact compliance, and the contactsurface undergoes an imposed oscillation. The POMs are selected from achaotic response to build the reduced system model. These POMs areextrapolated into proper orthogonal modal functions (POMFs) by using thelinear normal modes as basis functions. The POMFs are used as the basisfor projection the partial differential equation of motion to alow-order set of ordinary differential equations. Simulated responsesbased on the POMFs and linear normal modes are compared to that of a'truth set' simulation, which is based on ten linear normal modes.