Modified LuGre Friction Model for the Simulation of Stick-Slip Phenomena

Luca Bruzzone and Giorgio Bozzini


mechanical modelling, simulation, friction, stick-slip


The LuGre friction model is a widely used model of the tangential reaction force between two surfaces in contact. This model is capable of simulating correctly most features of the frictional dynamics, for example the Stribeck effect, the limit-cycle behaviour and the stick slip oscillations. One drawback of this model is its numerical instability in the sliding condition. To overcome this weakness, the paper proposes a variant of the LuGre friction model, named LuGreG, characterized by the same physical parameters. The simulation results show that the proposed algorithm eliminates the numerical oscillations of the original model, independently from the integration step, with a limited increase of computational time.

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