In order to deeply study the non-smooth dynamic mechanism of self-excited vibration, the friction self-excited vibration system model containing the Stribeck friction model is established, which is a nonlinear dynamical mass-spring-belt model. For the established model, the critical instability speed is solved by the first approximate stability criterion of Lyapunov theory, and the stability of limit cycle is determined on the basis of curvature coefficient. Secondly, the bifurcation characteristics and system behaviors under different parameters are analyzed by using numerical simulation method. The results show that the theoretical analysis is feasible. Feed speed, damping coefficient and ratio of dynamic-static friction coefficient are the main factors that affect the system motion state. Thirdly, the Washout filter method is designed to control the bifurcation characteristics. By comparing the pre and post phase diagrams, results show that the amplitude of controlled system is reduced and the topology is improved after introducing the Washout filter. All the researches above prove that adding Washout filter into the system to control the bifurcation phenomenon is a more effective method
