Hybrid modelling and identification of dry friction systems, application to a clutch actuator

Abstract : This paper proposes a new general framework, i.e. hybrid modeling, for the modeling of systems submitted to friction. The proposed hybrid model has two modes (states): one models the system sliding, the second the system sticking. The main advantage of the presented model is the adaptation capability of the model to observable phenomena. This capability is shown for the most common behaviors encountered experimentally and comparisons with other models presented in the literature are carried out. Also, the simulation parameters of the hybrid modeling is addressed. The literature proposes many models and methods of parameters identification. These works are generally validated in simulation or on system with sensors and actuators of high precision. This paper focuses then on modeling and identifying complex mechanical system with low resolution sensors. To validate the hybrid model and its method of identification in case of low sensor resolution, a real clutch-by-wire is studied. After the presentation of the system, simplifications have been done to obtain a single-mass system with dry and viscous frictions. The proposed modeling and identification method is validated experimentally on the studied clutch-by-wire.
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Contributor : Eduardo Mendes <>
Submitted on : Wednesday, March 23, 2011 - 1:04:58 PM
Last modification on : Friday, August 23, 2019 - 1:15:37 AM


  • HAL Id : hal-00579258, version 1


Rémy Nouailletas, Eduardo Mendes, Damien Koenig. Hybrid modelling and identification of dry friction systems, application to a clutch actuator. Control Engineering Practice, Elsevier, 2010, 18 (8), pp.904-917. ⟨hal-00579258⟩



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