METHODS FOR SIMULATING STATIC FRICTION AND APPARATUSES FOR THE IMPLEMENTATION THEREOF (VARIANTS) Russian patent published in 2022 - IPC G05B17/00 G06G7/48 

FIELD: testing.

SUBSTANCE: proposed technical solutions relate to the field of controlled reversible or intermittent systems, wherein one of the disturbing forces acting on said systems is friction, and simulation modelling thereof is performed in the process of control synthesis. Claimed is a method for simulating static friction, wherein in order to obtain the driving force signal, a friction force signal is added to the signal of the projection of the sum of active forces on the direction of movement (expected direction of movement); the result is divided by the value of the mass of the moving parts, resulting in the acceleration value; the velocity value is obtained by integrating the acceleration signal; if the value of modelled velocity reaches zero, an indicator of the presence of a state of rest is formed, mutually exclusive with the indicator of the presence of a state of motion, as well as a logical command to set the modelled velocity to zero by resetting the integrator to zero when transitioning from the state of motion to the state of rest; wherein the value of the motion friction force is used as a friction force signal in the state of motion, and if the indicator of a state of rest is present, the value of static friction force is used, the absolute value whereof is formed as the smaller in modulus value from the value of initiation friction force and the value of the projection of the sum of active forces in the corresponding direction. The attribute of a state of rest in the proposed technical solutions is therein developed in advance of the time of actual zero setting of the velocity. Proposed are three basic options for receiving commands to reset the integrator and forming an indicator of a state of rest, including those accounting for the mutual direction of the driving force and velocity and the possibility of integrating using an accumulating adder. A corresponding apparatus is proposed in order to implement each of the basic variants of simulation.

EFFECT: increase in the accuracy of matching the behaviour of the model to a real physical process in a dynamic system without increasing the order of the differential equations used by the model, and a possibility of solving the problem using low-efficiency computing equipment in real time, as well as analogue computers.

17 cl, 5 dwg