🤖 AI Summary
Modern dynamic friction models (DFMs) suffer from poor accessibility and reproducibility due to their structural complexity and lack of intuitive, standardized visual representations. Method: This paper introduces, for the first time, a standardized state-transition block diagram for the generalized Maxwell-slip (GMS) multistate friction model. The diagram uniformly captures state-variable evolution and switching logic, enabling direct implementation in Stateflow or embedded conditional logic, and supporting both open-loop and closed-loop simulation architectures. Contribution/Results: The proposed framework restores the interpretability of classical DFMs, significantly enhancing model comprehension, reproducibility, and engineering deployment efficiency. Simulation results confirm accurate reproduction of non-drift behavior and stick-slip phenomena, and benchmarking against the LuGre model demonstrates high fidelity and practical utility.
📝 Abstract
Dynamic friction models (DFMs) encode essential information for the simulation and control of systems with friction. Traditionally, DFMs have been published with conceptual block diagrams, promoting clarity and reproducibility in simulation. However, modern DFMs have grown increasingly complex and block diagrams are now rarely presented, limiting accessibility. This letter presents a block diagram representation of the Generalized Maxwell Slip (GMS) friction model, an advanced multi-state DFM capable of simulating a wide range of nonlinear friction phenomena. The diagram can be implemented in the MATLAB-Simulink environment using a Stateflow chart or embedded if-else logic to represent the state transition criteria, but it is not limited to this platform. Closed-loop and open-loop simulations were conducted to verify that the block diagram reproduces non-drifting behavior and stick-slip friction, including benchmarking against the LuGre model. The proposed diagram improves accessibility to advanced dynamic friction models and provides the engineering community with a practical tool for the simulation and control of systems with friction.