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To achieve a high level of performance, frictional effects have to be addressed by considering an accurate friction model, such that the resulting model faithfully simulates all observed types of friction behaviour. A nonlinear friction model is developed based on observed measurement results and dynamic system analysis. The model includes a stiction effect, a linear term (viscous friction), a non-linear term (Coulomb friction) and an extra component at low velocities (Stribeck effect). During acceleration, the magnitude of the frictional force at just beyond zero velocity decreases due to the Stribeck effect, which means the influence of friction reduces from direct contact with bearings and body into the mixed lubrication mode at low velocity. This could be due to lubricant film behaviour. In respect of acceleration and deceleration when the direction changes for the mass body, friction almost depends on this direction, while the static frictional force exhibits spring-like characteristics. However, friction is not determined by current velocity alone, it also depends on the history of the relative wheel and body velocities and movements, which are responsible for friction hysteresis behaviour.

Nonlinear Friction Model for Passive Suspension System Identification and Effectiveness