以二自由度颤振系统为对象，对含有干摩擦的制动系统的颤振分岔、粘滑等复杂的非线性动力学行为进行研究。采用非线性摩擦系数、用二自由度的制动模型取代单自由度模型，建立相应的系统动力学模型；利用Runge-Kutta-Fehlberg(RK45)法数值分析与研究了的系统动力学特性，得到随制动速度、支撑刚度和阻尼变化的质量块颤振振幅的变化曲线，分析发现：系统在低速下出现颤振现象，系统的支撑刚度和阻尼对其颤振的剧烈程度具有一定的影响，合理的系统参数能够减轻系统的颤振。

Chatter, stick-slip, and other nonlinear complex dynamic Phenomena are investigated in the two degrees of freedom chatter system with dry friction. Dynamic model combined with nonlinear coefficient of friction is established. Dynamic characteristics are quantitative researched by using Runge-Kutta-Fehlberg(RK45) to obtain the curves of chatter amplitude changing with brake speed, stiffness k2 and damping c2 especially. The results show that, the flutter phenomena can be found when the brake moves at a low speed. The intensity of chatter vibration can be effected by stiffness and damping in some degree, so reasonable parameters of the system can reduce chatter.