Bond Graph Modeling of Stick-Slip Behavior in Friction Belt Drives

摘要

Two means of modeling the behavior of friction belt drives using bond graphs are presented. In both cases, the emphasis is on representing in an efficient way the slipping that may occur if the transmitted torque is too great and both treat the causal difficulties associated with stick-slip friction. The first method considers the flexibility of the belt segments explicitly and the slip law is represented approximately with a steeply discontinuous resistance law. The second method does not need to represent the belt flexibility and solves the causality problem using analytic means. Both methods require some approximation for digital simulation.