摘要：A comprehensive friction model for a linear DC machine powered mine locomotive is presented. The friction model presented is an extension of an existing friction model based on slip. Hence, a piece-wise dry friction model is developed. The friction and linear DC machine dynamics are also simulated and presented. The friction curve shows that there are two friction regimes namely; static friction and kinetic friction. The results show that the locomotive tends to move slow when the friction force is incorporated and that there are more losses when the voltage is low. For a voltage of 1V, a velocity of 3.3 m/s is found for a friction-less locomotive while for a steady-state velocity of 2.1 m/s for a locomotive with friction losses.
关键词：KeywordsLinear DC machinemine locomotivecomprehensive friction model
