Abstract Low-frequency seismic data plays a crucial role in seismic data processing and seismic wave inversion. At present, there are two methods to realize the low-frequency excitation of vibrators: one is exciting low-frequency vibrators by linear sweep signals, and the other is exciting conventional vibrators by nonlinear low-frequency sweep signals. The cost of exploration using low-frequency vibroseis is high, and it is challenging to obtain sufficient low-frequency information using traditional vibrators. To this end, this paper comparatively studies the low-frequency sweep signal characteristics and data effects of low-frequency and traditional vibrators. Therefore, three kinds of linear and nonlinear low-frequency sweep signal are designed. Theoretical analysis shows that there are certain differences between linear and nonlinear signal in design methods, signal shapes, etc., but after correlation calculations the signal spectra reflecting the seismic response and the related wavelet shapes are basically consistent. Besides, the actual force signal data shows that the linear and nonlinear harmonic distortion are basically equivalent. Finally, based on the forward simulation of three sweep signals and the comparative analysis of field test data, it can be considered that the linear and nonlinear low-frequency sweep signals of vibrators have almost the same denoising ability under the basic conditions of the spectrum and wavelet. Both can achieve low-frequency excitation and obtain rich low-frequency information, and the quality of seismic data is basically the same, so they can be applied in practical production.