伺服控制系统数学模型的准确性直接影响到控制器的分析与设计。非线性摩擦力对高精度伺服控制系统存在不利影响，采用面向控制的系统辨识是认识和分析系统的重要途径。相关分析法具有很强地噪声抑制能力和直接辨识离散差分模型的优点，依然应用广泛。本文分析了Stribeck 摩擦在低速运行条件下对伺服系统的影响，采用经过补偿的激励信号进行相关分析辨识，分析和推导此激励信号参数，给出具体操作步骤。实验结果表明，含有非线性摩擦的条件下，该方法能够改善伺服系统辨识准确性。

The accuracy of servo system model affects the analysis and design of controllers directly. The non-linear friction has adverse effects on the high-precision servo system, and the control-oriented system identification is an vitual way to the system analysis recognization.The correlation analysis method can reduce noise strongly, and identify system’s discrete difference model directly. Therefore, it is still widely used. This paper analyzes the effect of Stribeck friction on the servo system at low speed ,and identifys the system by correlation analysis method with a compensated excitation. Then the excitation parameters are analyzed and derived, and the concrete steps is listed. The experimental results show that the method can improve the accuracy of servo system identification with nonlinear frictions.