Optimizing karnopp friction model parameters of a pendulum using RSM

Abstract

Accurate mathematical models of physical systems are essential for understanding the behaviour of actual systems under different operating conditions and for designing control systems. In mechanical systems, difficulty of the exact determination of friction force parameters adversely affects the accuracy of the models. In this study, Karnopp friction model is chosen in order to model the friction parameters of the bob of a pendulum. The parameters are determined by sectioning the speed regions and then using "Response Surface Methodology" (RSM) by sectioning the speed regions. Proposed method has produced accurate yet simple model of the friction parameters.