Stick-Slip

Vibrations caused by friction interactions

between sliding surfaces
Cause of all sliding noise:
o brake noise:
Squeal & squeak (high frequency:
~ 0.62 kHz)
Moan, groan, judder, chatter (low
frequency: < 0.6 kHz)
o Chalk squeal on board
o Squeaky shoes on floor
Mechanism, Cause & Requirements
Necessary conditions:
o Friction coefficient : static
s
> kinetic
d
o Slope
d
vs. velocity v, negative
Mass of slider + support stiffness => vibration
Negative slope => positive damping =>
instability
Model
Slider mass M against counter-surface
Stiffness k of slider support
Normal force W
Friction force W, with negative slope
Physical model and bond graph
W
v
f M
k
f l at
1
S
f
:v
f
RC
I: M
k x
v
s
= v
f
-v
h
dx/dt
dp
h
/dt v
h
= p
h
/M
0
v
f
C: k
1
I: M
dp
v
/dt
v
M
= p
v
/M
S
e
:W
W
d/dt
C
3/2
(v
s
) C
3/2
motions normal
to surface
motions tangential
to surface, including sliding
0
I: M
f
dp
f
/dt
p
f
/M
f
Equations of motion from bond graph:
Horizontal motions:
dp
h
/dt = - kx + (v
f
p
h
/M) C
3/2
dx/dt = p
h
/M
Vertical motions:
dp
f
/dt = C
3/2
d/dt = p
v
/M - p
f
/M
f
dp
v
/dt = W - C
3/2
Nonlinear contact stiffness P = P()
P = C
3/2
, C =

4
3(k
1
+k
2
)
R
1
R
2
R
1
+R
2

nonlinear contact vibrations
DRY FRICTION
Dependent on
REAL contact area
Normal force W
Materials & environment
Weakly dependent on sliding speed v
Friction coefficient
(v) =
k
+ (
s
-
k
) exp{-v/v
o
}
For small v, Taylor series =>
(v)
s
- v(
s
-
k
)/v
o
+
+ (
s
-
k
)(v/v
o
)
2
/2 +

As sliding velocity v increases, friction coefficient
and friction force decrease
=> Unstable behavior

Root cause of friction induced noise!

Substitute dx/dt = p
h
/M
dp
h
/dt = - kx + (v
f
p
h
/M) C
3/2


M

x + kx (v
f


x )C
3/ 2
= 0

Substitute (v)
s
- v(
s
-
k
)/v
o

x x (

k
v
o
)
C
M
3/ 2
+
k
M
x =[
s
v
f
(

k
v
o
)]
C
M
3/ 2
Compare with second order system, standard form

x +2
n
x +
n
2
x = f (t)
Damping term negative => unstable behavior
@ low speed
Step response, 2nd order system

x(t) =
f
o

n
2
1+

2
1
2
2
1
e

n
( +
2
1)t

+
2
1
2
2
1
e

n
(
2
1)t
|
|
|
|
|
|
, >1
f
o

n
2
1(1+
n
t)e

n
t
[ ]
, =1
f
o

n
2
1 e

n
t
cos(
n
1
2
t) +

1
2
sin(
n
1
2
t)
|

|
|

|
|
|
|
|
|
|
,0 <1
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Vibration Response, Stick/Slip
Let

W = C
3/ 2
, no vertical motions
Horizontal motions governed by

M

x + kx
k
+ (
s

k
)e

v
f
x
v
o
[
\
|

)
j
|
|
|
|
|
|
|
|
W = 0
Rearrange


x +
k
M
x (
s

k
)e

v
f
x
v
o






W
M
=
k
W
M
Rearrange again, g is gravity


x (
s

k
)e

v
f
x
v
o






g +
n
2
x =
k
g
Simulation (Mathematica)
Differential equation:


x (
s

k
)e

v
f
x
v
o






g +
n
2
x =
k
g
Parameter values:

s
= 0.2,
k
= 0.1, v
o
= 1 m s
-1
,
n
/2 = 1 kHz
Initial conditions:

x (0) = x(0) = 0
x(m)
t(s)
v
f
= 0.1ms
-1
1ms
-1
10ms
-1
Self sustained oscillation at natural frequency!
Larger amplitude @ smaller sliding speed
Simulation (Mathematica)
Let V
v
= p
v
/M, V
h
= p
h
/M, V
f
= p
f
/M
f
C
o
= C/M, m = M/M
f
C =

4
3(k
1
+k
2
)
R
1
R
2
R
1
+R
2

k
i
= (1
i
2
)/E
i

State equations become:

dV
h
/dt = -
n
2
x + (v
f
V
h
) C
o

3/2
dx/dt = V
h
dV
f
/dt = C
o
m
3/2
d/dt = V
v
- V
f
dV
v
/dt = g C
o

3/2
Zero initial conditions
Parameter values:

s
= 0.2,
k
= 0.1
E
i
= 200 Gpa,
i
= 0.3
m = 0.001, C
o
= 4.63 x 10
10
v
o
= 1 m s
-1
, v
f
= 0.001 m s
-1
,
n
/2 = 1 kHz
x(m)
t(s)
(m)
Self sustained oscillation at natural frequency!
Amplitude of horizontal motions grow, due to
interaction with vertical motions