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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。
Based on the finite element model of the elastic mechanism with piezoelectric element, the active vibration control of high-speed mechanism is studied based on the complex mode theory. Three controller design methods are given: convergent modal control, classical H∞ control and robust H-control ∞ control, and their performance in vibration control of linkage mechanism are compared. Simulation results of a crank-rocker mechanism show that all three methods can effectively control the on-line elastic vibration of the system. The comparison shows that the convergent modal control has some advantages in improving the modal active damping of the system, while the robust H∞control can effectively solve the spillover problem caused by modal truncation.