由于非线性摩擦力的存在，很难用传统的方法对其进行建模。
Due to the existing of nonlinear friction, it is difficult to model in the traditional way.
该方法能够方便地计算接触面非线性摩擦力，考虑响应的高次谐波以及叶片高阶振型的影响。
This method can calculate the nonlinear friction force conveniently and can consider the effects of the blade high modes and the high harmonics of the blade responses.
气动脉宽调制位置伺服系统是非线性的系统，在气缸摩擦力较大的情况下，采用传统的控制方法难以取得满意的效果。
Pneumatic PWM position servo system is nonlinear system. The satisfied results are difficult to be obtained with traditional control method while the friction force of cylinder is large.
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