中文摘要：

在分析摩擦力非线性特性的基础上，针对高速直线运动系统建立了一种简单有效的空间摩擦力模型，引入附加摩擦力的概念描述了工作状态下扰动因素引起的摩擦力。分析并仿真了工作负载、移动单元质心偏移和运动耦合等扰动因素对摩擦力的影响，仿真与实验结果基本一致。提出的摩擦力模型更接近实际，拓宽了模型的应用范围，有望在高速直线运动系统轨迹跟踪控制中取得更好的效果。

英文摘要：

The existing friction models need to be improved for friction estimation in high speed linear motion system. A simple three-dimensional nonlinear friction model had been presented, the concept of additional friction was introduced to account for influence due to disturbance at working status. Simulations had been carried out to evaluate additional friction caused by load, eccentricity of moving part and coupling effects between axes. The results are in agreement with the experiments. The proposed friction model can be applied in high speed linear motion system to achieve better control performance.