To study the vibration-friction coupling dynamic characteristics of the friction self-excited vibration system, the mass-spring-belt friction self-excited vibration system with nonlinear dynamic model is established. This model is based on the Stribeck friction model. The influences of the damping coefficient, external excitation amplitude and excitation frequency on the bifurcation and chaos characteristics of the system are studied using numerical simulation. Results show that when the excitation frequency is constant and the dimensionless excitation amplitude is between 0 and 1.5, the time period of quasi-periodic motion gradually increases as the damping increases. There is also Hopf bifurcation other than the period doubling bifurcation when the damping is relatively small and the amplitude is between 10 and 11. The system is doubling bifurcation when the damping coefficient is relatively large. It is single-cycle synchronous vibration when the excitation amplitude is constant and the excitation frequency is close to the natural frequency of the derived system. It is quasi-periodic motion when the excitation frequency is greater than the natural frequency of the derived system. On the contrary, it′s chaotic motion.