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本文采用假设模态法，对带有末端荷载的柔性机械臂，推导出考虑动力刚化影响的柔性机械臂有限维一致线性化动力学模型．通过极点配置技术设计滑模超曲面参数，采用滑模变结构控制方法，实现关节转角的运动轨迹控制．采用ＬＱＲ方法设计弹性模态稳态器，抑制由于刚体运动而激发的弹性振动．文中最后针对一单杆柔性机械臂进行了计算机仿真，验证了本文所提出的控制策略的有效性．
In this paper, by using the modal method, a finite-dimensional uniform linear dynamic model of a flexible manipulator considering the effect of dynamic stiffening is derived for a flexible manipulator with a terminal load. The parameters of the sliding surface hypersurface are designed by the pole placement technique, and the sliding mode control method is adopted to control the movement path of the joint corner. The LQR method is used to design the elastic modal stabilizer to restrain the elastic vibration induced by rigid body motion. In the end, a computer simulation of a single-pole flexible manipulator is carried out to verify the effectiveness of the proposed control strategy.