A computationally efficient technique for modelling velocity-dependent sliding friction

Abstract

This paper contains a summary of research undertaken at QinetiQ (Winfrith) to simulate velocity-dependent ‘stick/slip’ or ‘sliding’ friction for use in the modelling of complex engineering systems. The research arises from combined simulation and experimental investigations conducted into the performance optimization of towed array outboard handling systems on submarines and surface ships. However, the technique developed is general and suitable for any time-domain system simulation, entailing the solution of a set of non-linear differential equations. The actual friction-velocity relationship may be either equation based or determined from experimental data as a set of x-y values. The simulation technique is novel in that it avoids the traditional problem of a friction discontinuity as the surface relative velocity changes sign. It thereby overcomes the computational problems that often occur when multiple discontinuities are encountered, such as simulations stopping prematurely, failing or giving erroneous results.