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摘要：滚珠丝杠系统是一种常用的机械传动系统，其动力学特性对机械系统的性能和精度有着重要的影响。本文研究了滚珠丝杠系统的动力学特性，包括系统的振动响应、稳态误差和稳定性。首先，建立了滚珠丝杠系统的数学模型，考虑了滚珠与丝杠的接触非线性性和滚珠的离散性等因素。然后，利用数值模拟方法，分析了系统的振动响应，并通过频谱分析法得到了系统的主要振动模态。接着，研究了滚珠丝杠系统的稳态误差问题，分析了其产生的原因，并提出了一种基于PID控制的校正方法。最后，通过研究系统的特征方程和状态转移矩阵，分析了系统的稳定性，并给出了系统稳定的充分条件。本文的研究结果对滚珠丝杠系统的设计和控制具有重要的指导意义。 关键词：滚珠丝杠系统；动力学特性；振动响应；稳态误差；稳定性 Abstract: Ball screw system is a commonly used mechanical transmission system, and its dynamic characteristics have important influence on the performance and accuracy of mechanical systems. In this paper, the dynamic characteristics of ball screw system are studied, including the vibration response, steady-state error and stability of the system. Firstly, the mathematical model of ball screw system is established, considering the nonlinear contact between ball and screw and the discreteness of ball. Then, the vibration response of the system is analyzed by numerical simulation method, and the main vibration mode of the system is obtained by spectral analysis method. Then, the steady-state error problem of the ball screw system is studied, the reason for its occurrence is analyzed, and a correction method based on PID control is proposed. Finally, by studying the characteristic equation and state transition matrix of the system, the stability of the system is analyzed, and the sufficient conditions for the stability of the system are given. The results of this paper have important guiding significance for the design and control of ball screw system. Keywords: ball screw system; dynamic characteristics; vibration response; steady-state error; stability.