Multicomponent models of friction

The problem of motion of a homogeneous ball on a horizontal plane is considered. It is assumed that the contact patch is of spherical shape, whereas the pressure center does not coincide with the center of the contact patch and is displaced in the sliding direction of the ball. The friction force has two components that are parallel and perpendicular to the sliding velocity; the friction force moment has a vertical component and two horizontal components being parallel and perpendicular to the sliding velocity.     

Efficiency comparison of various friction models of a hydraulic cylinder in the framework of multibody system dynamics

Nonlinear Dynamics - Dynamic simulation of mechanical systems can be performed using a multibody system dynamics approach. The approach allows to account systems of other physical nature, such as...     

Global qualitative analysis of tippe top dynamics

The tippe top is a dynamically and geometrically symmetric body supported by a horizontal plane. If one twists the tippe top rapidly about the symmetry axis so that the symmetry axis is vertical and its center of mass takes the lowest position, then it turns upside down by 180° and stats to rotate about the same symmetry axis with the center of mass occupying the highest position. A local analysis of tippe top dynamics (in a neighborhood of its rotations about the vertical symmetry axis) is given in [1, 2]. The simplest model of the tippe top is a dynamically symmetric inhomogeneous ball whose center of mass lies on the dynamic symmetry axis but does not coincide with its geometric center. Such a model allows global qualitative analysis of the top dynamics.     

Interface models coupling adhesion and friction

Interface models coupling friction and adhesion, where adhesion is regarded as interface damage, are briefly reviewed. The most widely used cohesive zone models are presented and discussed. A general framework for these laws, recently developed by Del Piero and Raous in the form of a unified model, is outlined. As an example, it is here established that the RCCM (Raous–Cangémi–Cocou–Monerie) model is a specific case in this general framework. The variational formulation and some associated solvers are briefly recalled in the context of non-smooth mechanics in the cases of both quasi-static and dynamic problems. A few examples in various fields of application are given. Lastly, some open problems and ongoing researches in this field are presented and discussed.     

原子尺度摩擦行为的分子动力学模拟

应用大规模分子动力学方法,模拟了具有原子级光滑和原子级粗糙形貌的刚性球形探头与弹性平面基体的干摩擦行为,研究了无/有粘附条件下的载荷与摩擦力、载荷与真实接触面积,以及摩擦力与真实接触面积之间的关系,对纳米尺度下的摩擦行为规律进行了分析.几种系统的真实接触面积-载荷关系都与相应的连续力学接触模型定性的一致,它们分别是Hertz光滑表面接触模型、Greenwood-Williamson粗糙表面接触模型和Mau-gis Dugdale粘着接触模型.无论是由光滑表面还是粗糙表面构成的摩擦系统,在无粘附条件下摩擦力与载荷成正比,而摩擦力与真实接触面积之间没有一个简单的关系;在粘附条件下摩擦力与真实接触面积成正比,而摩擦力与载荷之间表现为Maugis Dugdale模型预测的亚线性关系.研究表明,当表面作用从无粘附到粘附时,控制摩擦力的决定因素从载荷转变为接触面积,摩擦行为从载荷控制摩擦转变为粘着控制摩擦.     

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.     

On models of dynamic systems with dry friction

An approach to the design of models of dynamical systems with high dry friction in the kinematic pair is developed. The members of the kinematic pair are represented by parts of rigid bodies. The system as a whole is considered to have a variable structure. According to this assumption, two modes of motion with different dissipative characteristics are possible. The states in which the modes exchange and the motion switches over into critical modes with dynamic self-locking are established. A system with a variable transfer function between members that form a nonideal constraint is described __________ Translated from Prikladnaya Mekhanika, Vol. 43, No. 5, pp. 97–105, May 2007.     

Bi-linear reduced-order models of structures with friction intermittent contacts

The dynamic analysis of structures with localized nonlinearities, such as intermittent contacts of cracked structures, is a computationally demanding task because of the large size of the models involved. Thus, high-resolution finite element models are often reduced using a variety of specialized techniques which exploit spatial coherences in the dynamics. In addition, when a steady-state forced response analysis is performed, direct time integration can be replaced with multi-harmonic balance methods. Recently, a technique based on bi-linear normal modes has been successfully applied to piecewise-linear oscillators. The key idea of that approach is to represent the spatial coherences in the system dynamics with two sets of normal modes with special boundary conditions, referred to as bi-linear modes. In this paper, the bi-linear modal representation is extended to the case of intermittent contacts with friction. Furthermore, a novel reduced order modeling method is developed for the 0th order harmonic used in multi-harmonic balance methods. The forced response of a cracked structure is used to demonstrate the proposed methods.     

Energy corrugation in atomic-scale friction on graphite revisited by molecular dynamics simulations

Although atomic stick–slip friction has been extensively studied since its first demonstration on graphite,the physical understanding of this dissipation-dominated phenomenon is still very limited. In this work, we perform molecular dynamics(MD) simulations to study the frictional behavior of a diamond tip sliding over a graphite surface. In contrast to the common wisdom, our MD results suggest that the energy barrier associated lateral sliding(known as energy corrugation) comes not only from interaction between the tip and the top layer of graphite but also from interactions among the deformed atomic layers of graphite. Due to the competition of these two subentries, friction on graphite can be tuned by controlling the relative adhesion of different interfaces.For relatively low tip-graphite adhesion, friction behaves normally and increases with increasing normal load. However,for relatively high tip-graphite adhesion, friction increases unusually with decreasing normal load leading to an effectively negative coefficient of friction, which is consistent with the recent experimental observations on chemically modified graphite. Our results provide a new insight into the physical origins of energy corrugation in atomic scale friction.     

The frequency response of dynamic friction: Enhanced rate-and-state models

The prediction and control of friction-induced vibration requires a sufficiently accurate constitutive law for dynamic friction at the sliding interface: for linearised stability analysis, this requirement takes the form of a frictional frequency response function. Systematic measurements of this frictional frequency response function are presented for small samples of nylon and polycarbonate sliding against a glass disc. Previous efforts to explain such measurements from a theoretical model have failed, but an enhanced rate-and-state model is presented which is shown to match the measurements remarkably well. The tested parameter space covers a range of normal forces (10–50 N), of sliding speeds (1–10 mm/s) and frequencies (100–2000 Hz). The key new ingredient in the model is the inclusion of contact stiffness to take into account elastic deformations near the interface. A systematic methodology is presented to discriminate among possible variants of the model, and then to identify the model parameter values.     

A stable algorithm for bed friction in three-dimensional shallow sea modal models

The mathematical formulation of a three-dimensional shallow sea model using a modal expansion in the veitical is briefly described. The importance of the time discretization of the vertical diffusion term and bottom friction term is discussed in some detail. Both stability theory and numerical calculations show the importance of time centring or evaluating the modal form of the viscosity term at the higher time step in order to develop a numerically efficient algorithm. Similar analysis and calculations show that in shallow water it is essential to time centre or evaluate bottom friction at the higher time step. In the case of linear bottom friction it is shown that this condition can be readily accomplished. However, using a quadratic friction formulation (a more physically realistic form), this cannot be readily achieved. A new algorithm is presented whereby a stable solution can be obtained even in shallow water using quadratic bottom friction.     

Localized interaction models with non-constant friction for rigid penetrating impactors

We suggest approximate penetration models for rigid body penetration that take into account sliding velocity (SV) and pressure dependence of the friction coefficient (FC). It is showed that introducing variable FC in a localized interaction model (LIM) yields a model that belongs to the class of LIM. We developed a general method for determining the depth of penetration (DOP) using the piecewise linear approximation of the impactor’s generatrix. For some classes of SV dependent friction models we obtained analytical formulas for calculating the DOP. Using the experimental data available in the literature, we determined the dependencies of FC vs. pressure and SV. We conducted numerical modeling of penetration of a metal striker into metal and concrete shields employing models with variable and constant FC. Numerical simulations showed that taking into account variable FC strongly effects the DOP when FC changes appreciably for large velocities that are characteristic for the high-speed penetration.     

Influence of spring dynamics and friction on a spring-actuated cam system

Summary  The paper investigates two important aspects, friction and spring motion, of the dynamics of a spring-actuated cam system. The characteristics of the friction on the camshaft are analyzed using the nonlinear pendulum experiment, while the parameters of the friction model are estimated using the optimization technique. The analysis reveals that the friction of the camshaft depends on stick–slip, Stribeck effect and viscous damping. Spring elements are found to have much influence on the dynamic characteristics. Hence, they are modeled as four-degrees-of-freedom lumped masses with equivalent springs. The lumped masses and equivalent springs are obtained to match the static stiffness and natural frequency of the actual spring. The appropriateness of the derived friction and spring model are verified by its application to a vacuum circuit-breaker mechanism of the cam-follower type. Received 23 March 2000; accepted for publication 21 November 2000     

Experimental study of coupled two-dimensional models of sliding and spinning friction

An experimental study of coupled models of sliding and spinning friction is carried out. The models are based on Padé approximants of exact integral models. The experimental setup specially designed for the study is described. The experimental procedures are outlined and the results obtained are analyzed.     

On plastic dynamics of discrete structural models

Summary This paper discusses the dynamic loading of rigid-perfectly plastic structures by adopting a structural model discretized with constant stress finite elements. This assumption together with the hypothesis of small displacements and of a piecewise linear yield surface leads to the formulation of a problem in linear inequalities, which is, implicitly, time discretized. It is shown how the non linearity of the associated plastic flow laws leads to an equivalent extremal formulation. A numerical algorithm for solving the problem is directly derived from the mechanical statements. Numerical examples illustrate this approach. In the appendix an approximate technique is developed, which takes into account the influence of the strain-hardening and the strain rate sensitivity of material.

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Sommario Il problema del caricamento dinamico delle strutture rigido-plastiche viene affrontato attraverso un modello discretizzato per elementi finiti a stato di sollecitazione costante. Tale assunzione insieme alle ipotesi di superficie di plasticizzazione lineare a tratti e di piccoli spostamenti, conduce alla formulazione di un problema retto da diseguaglianze lineari che si presenta discretizzato, implicitamente, nel tempo. Si mostra che la non linearità delle leggi del flusso plastico associato conduce ad una equivalente formulazione di estremo.È esposto un algoritmo risolvente affatto aderente alla formulazione meccanica. Alcuni esempi illustrano il procedimento. Una proposta di adattamento al caso di materiali incrudenti e sensibili alle velocità di deformazione è presentata in appendice.

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Research supported by the National Research Council (C.N.R. - P.A.d.I.S.) of Italy.     

Periodic and chaotic dynamics of a sliding driven oscillator with dry friction

We have performed a numerical study of the dynamics of a harmonically forced sliding oscillator with two degrees of freedom and dry friction. The study of the four-dimensional dynamical system corresponding to the two non-linear motion equations can be reduced, in this case, to the study of a three-dimensional Poincaré map. The behaviour of the system has been investigated calculating bifurcation diagrams, time series, periodic and chaotic attractors and basins of attraction. Furthermore, a systematic study of the stability of periodic solutions and their bifurcations has been carried out applying the Floquet theory. The results show rich dynamics being very sensitive to the changes in forcing amplitudes (control parameter), where periodic and chaotic states alternatively appear. It is shown how the system exhibits different types of bifurcational phenomena (saddle-node, symmetry-breaking, period-doubling cascades and intermittent transitions to chaos) into relatively narrow intervals of the control parameter. Moreover, a collection of chaotic attractors was computed to show the evolution of the chaotic regime. Finally, basins of attraction were calculated. In all the cases studied, the basins exhibit fractal structure boundaries and, when more of two attractors are coexisting, we have found Wada basin boundaries.     

二维潮波模式底摩擦效应参数化方案同化研究

基于伴随同化方法对二维潮波模式底摩擦效应的线性与非线性参数化方案进行了比较研究。采用拉格朗日乘子法推导了底摩擦效应两种参数化方案的伴随表达式,并借助孪生实验对所述方法的参数反演能力进行了验证.通过同化高度计资料和验潮站资料,分别使用线性和非线性参数化方案,以及常数底摩擦系数与空间分布底摩擦系数设置的两两组合,对模拟结果进行了比较和分析。经过同化,模拟结果与观测数据的差异均有了明显下降。结果表明,如果将底摩擦系数设置为全区常数,则非线性参数化方案的模拟结果远优于线性方案;然而,在空间分布设置下,两者模拟得到的水位场与潮流场仅有细微差别,并尝试从底摩擦引起的能量耗散角度对其原因进行了分析。