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中文摘要：
以车辆制动时干摩擦颤振现象为研究对象，在分析讨论各种摩擦系数模型的基础上，引入非光滑分段非线性的Stribeck摩擦系数模型，建立含干摩擦和斜角的二自由度制动颤振系统动力学模型，并针对该系统进行了稳定性分析，计算得出系统处于临界稳定时的制动速度，最后利用数值仿真的方法求解系统的数学模型，并给出了制动速度、系统刚度等参数对系统颤振特性的影响规律。结果表明：适当调整结构参数可改善系统的颤振特性。
英文摘要：
The chatter of a braking system is a kind of complex self-excitation vibration. We first establish a kind of 2-degree-of-freedom dynamic model where the Stribeck friction model with non-smooth and non-linear piecewise characteristic is introduced. Then, the stability of the equilibrium point is studied and the critical braking velocity between stability and instability is determined. Finally, numerical solutions are presented. The solutions are consistent with the results from stability analysis, and they illustrate that the braking velocity and the system parameters such as stiffness have great influences on the chatter characteristics of the braking system.
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