An Analytic Algorithm for Simulation of Stick-Slip Friction

Abstract

An analytic algorithm for simulation of discontinuous stick-slip friction is presented in this paper. In this algorithm, a two-stage integration technology is proposed to resolve the discontinuity of the friction model at zero velocity. Two types of the Coulomb friction models, the static+Coulomb friction model and the exponential Coulomb friction model, are evaluated. A procedure to estimate the Stribeck velocity, which characterizes the exponential Coulomb friction model, is also presented in this paper. A closed-loop position-control system is implemented to study the stick-slip motion and to verify the simulation results. The experimental and simulation results reveal that the exponential model is more verisimilar in representing the low-velocity feature of Coulomb friction.