Study on criterion about overcoming low-speed stick-slip of simulator

This paper sums up the research situation. At the influence of friction, a simulator exists the phenomenon of low-speed stick-slip. The character of low-speed of simulator is affected seriously. According to the phase plane method, algebra analyzing method and Lyapunov theory, the paper gives a criterion about overcoming low-speed stick-slip. Making use of the criterion, we can conclude the relationship between system parameters and low-speed stick-slip, and determine the condition where the parameters of PID controller should satisfy, for the purpose of overcoming low-speed stick-slip and has not the phenomenon of low-speed stick-slip. This method is simple and easy to carry out and the experiments show that the condition is correct.