首先基于Ｈａｍ ｉｌｔｏｎ 原理建立起一般柔性体连续系统的动力学建模方法，进而以水平面内作大范围回转运动的柔性梁为例，在Ｅｕ１ｅｒ－Ｂｅｍ ｏｕｌｌｉ梁模型的假设前提下，根据轴向不可伸长的柔性梁的几何约束条件，推导出作大范围刚体运动的柔性梁连续系统的一致线性化振动微分方程。采用假设模态法对其离散化，导出考虑刚弹耦合作用的柔性梁有限维离散化动力学模型。文中最后给出了仿真算例，验证了该方法的有效性。 First of all, based on the principle of Ham ilton, a dynamic modeling method of a general flexible continuous system is established. Then taking a flexible beam with a large range of rotational motion in the horizontal plane as an example, under the assumption of Eu1er-Bem oulli beam model, Elongation of the flexible beam geometry constraints, derived for a wide range of rigid body motion of the continuous beam system of uniform linearized linear differential equations. The discretization of the finite element method is used to discretize the finite element method, and the discretization dynamics model of flexible beam considering the effect of just elastic coupling is deduced. Finally, a simulation example is given to verify the effectiveness of the method.