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

This paper proposes a new general framework, i.e. hybrid modeling, to model dry friction systems. The proposed hybrid model has two modes (states): one models the system sliding, the second the system sticking. The model's main advantage is the adaptation capability to observable phenomena. It is shown for the most common behaviors encountered experimentally and comparisons with other models presented in the literature are carried out. The models and methods of parameters identification of the literature are generally validated experimentally on system with sensors and actuators of high precision. This paper focuses on modeling and identifying complex mechanical system with low resolution sensors. The presented theoretical work is validated experimentally on a clutch-by-wire.