中文摘要：

以超静平台在未来高精度航天器主动隔振和精确指向控制中的应用为基础，针对柔性铰形式超静平台的动力学特点以及超静平台基础和载荷扰动作用的影响，建立一般形式的超静平台动力学模型；进一步推导解耦力控制方法，将超静平台由高度耦合的多输入多输出系统变为单输入单输出线性时不变系统，以此消除各支杆之间的相互作用，极大地简化了控制器设计；在此基础上，进行数值仿真分析与验证．仿真结果表明：基于所建立的一般形式超静平台动力学模型，采用解耦力控制方法能够很好地实现超静平台的主动振动控制，并且方法简单易于工程实现．

英文摘要：

Based on active vibration isolation and precision pointing control of ultra quiet platform for high precision spacecraft in the future, considering the dynamic characteristics of flexure jointed ultra quiet platform, as well as the effect of base and payload disturbances, the general dynamic model of ultra quiet platform is built. Then the decoupled force control method is derived, and the highly coupled multi-input and muhi-output system for ultra quiet platform is converted into single-input and single-output linear time invariant system so that the interaction of different struts is eliminated. The method also greatly simplifies the controller design. On this basis, the numerical simulation analysis and verification are made. The simulation results show that the decoupling force control method using a general dynamic model can a- chieve good control effect for active vibration control of ultra quiet platform, which is simple and easy to implement.