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For the purpose of extracting the frictional vibration characteristics of the friction pair during friction and wear in different friction states, the friction and wear tests of friction pair in different friction states were conducted on a testing machine. Higher-dimensional fractal and multifractal characteristics hidden in time series can be examined by multifractal detrended fluctuation analysis (MFDFA) method. The frictional vibration time-domain signals, the friction coefficient signals and the frictional vibration frequency-domain signals were analyzed and multifractal spectra were acquired by using the MFDFA algorithm. According to the spectra, the multifractal spectrum parameters of these signals were calculated to realize the quantitative characterization of frictional vibration characteristics in different friction states. The analysis shows that it is symmetric in the variation trends of the multifractal spectrum parameters of the frictional vibration signals and the friction coefficient data. Based on the multifractal spectrum parameters of frictional vibration, the principal component analysis (PCA) algorithm was applied to establish the friction state recognition method. The results show that the multifractal spectra and their parameters can characterize the frictional vibrations, and the friction state recognition can be realized based on the multifractal spectrum parameters of frictional vibrations.