  We study the effects of temperature and sliding velocity on superlubricity in
numerical simulations of the Frenkel-Kontorova model. We show that resonant
excitations of the phonons in an incommensurate sliding body lead to an
effective friction and to thermal equilibrium with energy distributed over the
internal degrees of freedom. For finite temperature, the effective friction can
be described well by a viscous damping force, with a damping coefficient that
emerges naturally from the microscopic dynamics. This damping coefficient is a
non-monotonic function of the sliding velocity which peaks around resonant
velocities and increases with temperature. At low velocities, it remains finite
and nonzero, indicating the preservation of superlubricity in the zero-velocity
limit. Finally, we propose experimental systems in which our results could be
verified.
