Clear Filters
Clear Filters

How to simulate Coulomb static friction in a multi-body system in SIMULINK/SimScape language?

9 views (last 30 days)
I'm trying to simulate a multibody system including Coulomb static friction.
So far I have been able to write the equations . I have also been able to implement the math in Modelica language and run the code in both OpenModelica and Wolfram SystemModeller. The issue is that the simulation take like ages. I want to try and do it in SIMULINK/SimScape to see if it is any faster. I have found some SIMULINK/SimScape blocks, but the issue is first I do not understand how they work and they seem to only include kinetic friction. so my questions:
  1. Is my math correct ?
  2. Are there any easy examples of a multibody system including the Coulomb static friction compatible with my math?
  3. Is it possible to program in SIMULINK/SimScape language without using the visual programming interface, like OpenModelica?

Answers (1)

Steve Miller
Steve Miller on 5 Aug 2017
Hi Foad - you can model this in Simscape, either in a textual format or in a graphical editor. Attached is a Simscape model and a screenshot is below. I suspect the slow simulations are caused by the transitions from non-sliding to sliding and vice-versa which can be tricky for solvers. The model I have attached simulates extremely fast. I'm not sure if I have matched all your parameters. Your mus is 1.3, which I assume is static friction. Normally coefficients of friction are between 0 and 1, so I'm not sure how to interpret that.
Good luck with your project!


Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!