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中文摘要：
针对含有压电智能结构的柔性机械臂，提出了基于模糊PID融合控制理论的柔性机械臂振动主动控制方法。搭建了悬臂梁和平面1R、2R柔性机械臂实验装置，并设计了相应的控制系统，通过实验实现了柔性机械臂振动的主动控制，实验结果显示，该方法可以抑制柔性机械臂振动，具有响应快、鲁棒性好等特点，且该方法不依赖于柔性机械臂动力学模型，算法简单，实时性好。
英文摘要：
Based on fuzzy--PID fusion control theory, a method of vibration control for the flexible manipulators with piezoelectric smart structure was presented. A cantilevered beam, experimental setups of 1R and 2R flexible manipulators were built, and their control systems were developed. Thevibration control of the all flexible manipulators was achieved by experiments. I he experimental re- sults show that the proposed method is of simple arithmetic and real--time characteristics without the dynamics model of the manipulators and has good robustness and fast response for vibration control of flexible manipulators.
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