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This paper aims to reduce friction pair erosion of the clutch in the case of continuous shift; the dynamic separation process of the friction pair is investigated. The temperature of the friction pair, friction torque, and separation speed in the separation process are taken as the research objects, and the dynamics simulation model and finite element thermal coupling simulation model of the clutch separation process are established. The nonlinear dynamic separation characteristics of the friction pair are investigated by comparing and analyzing the effects of control parameters such as rotational speed difference, damping ratio, and lubricant viscosity on the friction torque, friction pair separation speed, separation gap, and contact stress during the separation process. The gap recovery coefficient is proposed as a response indicator for observing the separation process in response to the inability to observe the nonlinear dynamic motion of the friction pair during the separation process and to measure the end time of the separation. Finally, the clutch was subjected to a separation test. The results show that the proposed gap recovery coefficient accurately describes the separation process. The simulation model can simulate the clutch's separation and predict the trend of separation parameters.