Reset Integrator Friction Model in Simulink

A Simulink block diagram of the Reset Integrator friction model from Haessig and Friedland.

The Reset Integrator model simulates stick-slip motion and hystersis in the pre-sliding regime by modeling friction as the stress induced by bending an elastoplastic bristle [1]. The Reset Integrator model offers several advantages including greater efficiency than bristle-type models and the ability to capture a wider range of friction effects compared to the Dahl model [1]. For an example of applying the Reset Integrator model and comparing its performance against similar models, refer to the work of Rybkiewicz and Leus [2]. I've structured the Simulink block diagram such that users can recreate Figure 11 from the original paper based on the single-body spring-mass example [1]. Representative plots are shown below to demonstrate the performance.

Enjoy!

-Kirk

Figure 1: Friction force profile generated by pulling a spring-mass system along a countersurface resulting in stick-slip motion. The model parameters are configured according to Table 1 from the original paper [1]. Solver settings ode45, rel tol 1e-4, simulation time 5 s.

Figure 2: Output position profile of the mass subject to stick-slip motion, corresponding to the friction profile in Figure 1.

References:

[1] Haessig, D.A., Jr. and B. Friedland, On the Modeling and Simulation of Friction. Journal of Dynamic Systems, Measurement, and Control, 1991. 113(3): p. 354-362

[2]Rybkiewicz, M. and M. Leus, Selection of the Friction Model for Numerical Analyses of the Impact of Longitudinal Vibration on Stick-Slip Movement. Advances in Science and Technology Research Journal, 2021. 15(3): p. 277-287.