【摘要】 在含有压电元件的弹性机构振动有限元模型的基础上，基于复模态理论，研究了高速机构的振动主动控制问题。给出了三种控制器设计方法：缩敛模态控制、经典Ｈ∞控制和鲁棒Ｈ控∞控制，并对它们在连杆机构振动控制中的性能进行了比较。针对一曲柄摇杆机构的仿真计算表明，３种方法都可以有效地控制系统的在线弹性振动。对比显示，缩敛模态控制在提高系统的模态主动阻尼方面有优势，而鲁棒Ｈ∞控制可以有效解决由于模态截断引起的溢出问题。更多还原

【Abstract】 Three active vibration controller design methodologies include reduced modal control, classical H∞ and robust H. control for the high - speed flexible linkage mechanisms with piezoelectric actuators and sensors are investigated. All the formulas are based on complex mode theory but are in real field. The numerical simulation carried out on a 4 - bar linkage mechanism shows that the vibration of the system is significantly suppressed with permitted actuator voltages by each of these three controllers. The reduced medal control makes it more convenient to increase the modal damp of the system than the H. control does, while the robust H∞ control avoids the spillover due to mode truncation.更多还原