Skip Navigation Links
Journal of Applied Nonlinear Dynamics
Miguel A. F. Sanjuan (editor), Albert C.J. Luo (editor)
Miguel A. F. Sanjuan (editor)

Department of Physics, Universidad Rey Juan Carlos, 28933 Mostoles, Madrid, Spain


Albert C.J. Luo (editor)

Department of Mechanical and Industrial Engineering, Southern Illinois University Ed-wardsville, IL 62026-1805, USA

Fax: +1 618 650 2555 Email:

Tribo-dynamics Analysis of Satellite-bone Multi-axis Linkage System

Journal of Applied Nonlinear Dynamics 4(3) (2015) 239--250 | DOI:10.5890/JAND.2015.09.004

Jimin Xu$^{1}$, Honglun Hong$^{1}$, Xiaoyang Yuan$^{1}$, Zhiming Zhao$^{2}$

$^{1}$ Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System, Xi’an Jiaotong University, Xi’an 710049, China

$^{2}$ College of Mechanical & Electrical Engineering, Shaanxi University of Science Technology, Xi’an 710021, China

Download Full Text PDF



Friction torque is the most important factor that influences stability and precision of multi-axis linkage system during low-speed running. It is primarily related to shafting structure, external load, motion state and other factors, and presents highly nonlinear characteristics. In this paper, satellite-bone multi-axis linkage system in microgravity environment is taken as the research object to focus on the coupling tribo-dynamics issues of influencing system’s precision. The shafting structural features of two degrees of freedom (2-DOF) vertical-axis turntable, source of friction torque and coating antifriction technology are studied. The corresponding tribo-dynamics model is established. The model shows motion process of multi-axis linkage system is a coupling process of tribology and dynamics. In order to eliminate the effect of friction torque fluctuations, friction compensation based on LuGre friction model is introduced. Then tracking precision of the visual axis is about 40'' (large movement range). For the imperfect situations with friction compensation, local actuator is introduced to combine with wide-range basic multi-axis system to realize the accurate movement within small range. Then the tracking precision of visual axis is expected to reach about 2'' to 4'' (small movement rang).


This work was supported by the National Natural Science Foundation of China (Grant No.51275376). The authors would like to thank Professor Yuefang Wang from Dalian University of Technology for valuable discussions on tribo-dynamics.


  1. [1]  Naozumi Tsuda and Katsutoshi Shimizu (1998), Two-axis pointing mechanism for earth observation system using heterodyne interferometry positioning sensor, SPIE Conference on Current Developments in Optical Design and Engineering, 1998, 169-176.
  2. [2]  Hilkert, J.M. (2008), Inertially stabilized platform: technology concepts and principles, IEEE control systems magazine, 28(1), 26-46.
  3. [3]  Michael, K. Masten (2008), Inertially stabilized platforms for optical imaging systems, IEEE control systems magazine, 28(1), 47-64.
  4. [4]  Hanching Grant Wang and Thomas C. Williams (2008), Strategic inertial navigation systems: high-accuracy inertially stabilized platforms for hostile environments, IEEE control systems magazine, 28(1), 65-85.
  5. [5]  Brian Armstrong H., Dupont, P., and DeWit, CC (1994), A survey of models, analysis tools and compensation methods for the control of machines with friction, Automatica, 30(7), 1083-1138.
  6. [6]  Xu, J.M., Wang Y., Yuan X.Y. and Zhao, Z.M. (2013), Effects of friction torque and compensation technology for multi-axis tracking system, China National Youth Conference on Ttribology, 2013, H101-H105.
  7. [7]  Bi, D., Li, Y.F., and Tso, S.K. (2004), Friction modeling and compensation for haptic display based on support vector machine IEEE transactions on industrial electronics, 51(2), 491-500.
  8. [8]  Devi P, Henk N and Nathan van de W, Analysis of undercompensation and overcompensation of friction in 1DOF mechanical systems (2007), Automatica, 43(8), 1387-1394.
  9. [9]  Zha, B.L, Qiao S.L., Huang, D.Y., and Yuan, X.Y. (2014), Effect of powder granularity on properties of WC-12Co coatings sprayed by HVOF, Hot Working Technology (China), 4, 138-140.
  10. [10]  Barletta, M., Bolelli, G., Bonferroni, B., and Lusvarghi, L. (2010), Wear and corrosion behavior of HVOFsprayed WC-CoCr coatings on Al Alloys, Journal of Thermal Spray Technology, 19(1-2), 358-366.
  11. [11]  Qian, X.S., Zhao Z.M., Guo, Y. and Yuan, X.Y. (2008), The research of self-balanced two-axis system in space thodolite, Journal of Vibration and Shock (China), 27(s), 78-81.
  12. [12]  Zhao ,Z.M., Yuan, X.Y. Guo, Y., Li, Z.G., and Xu, F. (2010), Modeling and simulation of a two-axis tracking system, Proc. IMechE Part I: J. Systems and Control Engineering, 224, 125-137.
  13. [13]  Zhao ,Z.M. and Yuan, X.Y. (2010), Backstepping designed sliding mode control for a two-axis tracking system, The 5th IEEE Conference on Industrial Electronics and Applications, 2010, 1593-1598.
  14. [14]  Xu, F., Gu, Y., Yu, W., Li, Z.G., and Yuan, X.Y. (2008), Simulation and analysis on electromechanical dynamics of optical-electric theodolite, ACTA Photonica Sinica (China), 37(10), 2076-2079.
  15. [15]  YOSHIHITO Imai, TAKAYUKI Nakagawa, HIDETAKA Miyake, HIROFUMI Hidai and HITOSHI Tokura (2004), Local actuator module for highly accurate micro-EDM, Journal of Materials Processing Technology, 149(1-3), 328-333.
  16. [16]  Zhang, X., Shinshi, T., and Kajiwara, G. (2008), A 5-DOF controlledmaglev local actuator and its application to electrical discharge machining, Precision Engineering, 32(4), 289-300.
  17. [17]  Canudas de Wit, C., Olsson, H., Aström, K.J., and Lischinsky, P.(1995), A New Model for Control of Systems with Friction, IEEE Transactions on Automatic Control, 40(3), 419-425.