Friction modelling and simulation at system level: a practical view for the designer

The modelling and simulation of friction at the system level is addressed using a practical approach that aims at providing the developer of system level virtual prototypes with realistic modelling and numerically robust simulation of friction. In this attempt, the paper provides key knowledge for the efficient use, development or extension of friction model libraries for electromechanical and fluid power actuators. The first part is dedicated to the factors that may influence friction at component or equipment level. Besides the well documented effect of speed, the work focuses also on the effects of position, load, direction of power, temperature and time. The second part deals with friction modelling and its numerical implementation for simulation. Particular attention is paid to the transition between the sticking and the sliding modes. Accordingly, the candidate models are sorted into three generic types (static mass-free, dynamic mass-free and dynamic mass-integrated) in order to point out numerical issues as well as constraints that apply to the development and use of a friction model library. The models and their implementation are discussed from a practical point of view. Summary tables recapitulate the properties of the candidate friction models considering the reproduced effects, the numerical constraints and their availability in the most common one-dimensional simulation tools.

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