Abstract
SUMMARY A quasi-linear analytical approach to the Karnopp nonlinear model of stick–slip friction is presented. The proposed linear description has additional phase lag at low frequencies in comparison with the well-known describing function of the Coulomb friction model. The new approach is appropriate to describe stick–slip friction behavior in the frequency domain and to predict limit cycling. The minimal critical frequency to stop the sticking is given. The reliability of the quasi-linear approach was experimentally verified by the common sine-scan frequency response technique. The analytical form of the stick–slip description allows for rapid computation and can therefore be of use in real-time control algorithms. Copyright © 2013 John Wiley & Sons, Ltd.
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