[![View LuGre friction model in MATLAB on File Exchange](https://www.mathworks.com/matlabcentral/images/matlab-file-exchange.svg)](https://www.mathworks.com/matlabcentral/fileexchange/84792-lugre-friction-model-in-matlab)
Reconstruction of the paper: A new model for control systems with friction
By: Canudas de Wit et al., 1995, IEEE Transactions on Automatic Control
I am trying to reconstruct as many figures as possible from the paper above.
Link to the paper: https://ieeexplore.ieee.org/document/376053
There are 2 m-files:
2. demo2.m
This is the second attempt at reconstructing the paper. Here, I use the built-in MATLAB solver: ode23s, which is designed for a stiff system. Thus, it takes less time to complete the simulation. In order to use MATLAB built-in solver, the problem must be first formalized. Plese see the PDF file [here](./problem_formalization.pdf).
3. demo3.m
This is an additional simulation to demonstrate the friction observer. This is not shown in the paper. Basically, this is a numerical simulation of section V.B, for position control with a unit-step input.
4. demo4.m
This shows optimally tuned PI and velocity gain without the friction observer. The performance is superior to the friction observer with poorly tuned PI and velocity gains.
-------------------------------
Not shown in the paper. Run demo2.
![fig1](fig1.png)
-------------------------------
Not shown in the paper. Run demo2.
![fig2](fig2.png)
-------------------------------
Fig. 3 of the paper. Run demo2.
![fig3](fig3.png)
-------------------------------
Fig. 2 of the paper. Run demo2.
![fig4](fig4.png)
-------------------------------
Fig. 6 of the paper. Run demo2.
![fig5](fig5.png)
-------------------------------
Fig. 4 of the paper. Run demo2.
![fig6](fig6.png)
-------------------------------
Fig. 8 of the paper. Run demo2.
![fig6](fig7.png)
-------------------------------
Not shown in the paper. Run demo3.
![fig6](fig8.png)
-------------------------------
Note that if the PI and velocity gains are optimally tuned, then the performance is better than the friction observer. Rise time is smaller and overshoot is smaller. This model is generally easier to tune. Run demo4.
![fig6](fig9.png)
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基于MATLAB模拟 LuGre 摩擦模型.zip
共25个文件
png:11个
m:10个
pptx:1个
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1.版本:matlab2014/2019a,内含运行结果,不会运行可私信 2.领域:智能优化算法、神经网络预测、信号处理、元胞自动机、图像处理、路径规划、无人机等多种领域的Matlab仿真,更多内容可点击博主头像 3.内容:标题所示,对于介绍可点击主页搜索博客 4.适合人群:本科,硕士等教研学习使用 5.博客介绍:热爱科研的Matlab仿真开发者,修心和技术同步精进,matlab项目合作可si信
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基于MATLAB模拟 LuGre 摩擦模型.zip (25个子文件)
基于MATLAB模拟 LuGre 摩擦模型
demo4.m 1KB
sim_presliding.m 657B
The LuGre Friction Model.pptx 305KB
sim_mass_with_ramp_force_input.m 408B
problem_formalization.pdf 1.1MB
说明.txt 367B
fig2.png 17KB
sim_stick_slip.m 527B
仿真咨询.png 350KB
fig8.png 14KB
fig4.png 18KB
更多代码关注我.png 114KB
fig9.png 13KB
fig6.png 15KB
fig3.png 27KB
lugref_ss.m 248B
fig1.png 14KB
fig5.png 21KB
fig7.png 15KB
lugref.m 434B
demo3.m 1KB
README.md 2KB
sim_pid.m 441B
sim_fiction_compensation.m 922B
demo2.m 7KB
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