Abstract: In this paper,formulae of energy input to the self excited vibration system and the energy consumed in wheeled vehicle powertrain system were presented. In addition, the feedback and control system of the self excited vibration were studied. The results indicate that the slip vibrates in the negative damping area of the adhesion force at first,but when the vibration amplitude exceeds a certain value,the slip extends to the positive damping area, hence the amplitude is hindered from increasing infinitely.