Document Type


Date of Award

Spring 5-31-1994

Degree Name

Master of Science in Mechanical Engineering - (M.S.)


Mechanical and Industrial Engineering

First Advisor

Avraham Harnoy

Second Advisor

E. S. Geskin

Third Advisor

Rong-Yaw Chen


The friction force between two bodies sliding at constant relative velocity is a function of their relative velocity. Under conditions of time-variable relative velocity, the instantaneous friction is a function not only of the instantaneous velocity but also the velocity history. An understanding of the resulting dynamic friction function will allow for the design of control systems where velocity is time-varying, oscillatory andoften contained in a relatively small region centered around zero amplitude. Within the control system, a portion of the control force can be implemented to effectively counteract the friction present and allow for precise motion control.

In this thesis a theoretical model which simulates the dynamic friction function requires verification through comparison with experimental data. An electromechanical system was designed and implemented to achieve this aim. The present system allows for the control of various parameters such as test-shaft angular frequency and velocity, test-shaft applied loan and lubricating oil viscosity. The subsequent comparison of theoretical and experimental data enables us to estimate the integrity of the model and offers insight into areas which require further investigation.