针对车载柔性臂系统中因弹性变形与振动引发的跟踪精确度欠缺问题,必须加入补偿才能得解决,为此,本文首先给出了柔性机械臂系统的结构模型图,并据此建立了系统动力学模型,同时,基于奇异摄动理论,对系统进行了双时标分解,并针对快、慢时标系统进行了控制方法设计,实现了轨迹补偿和抑制振动的效果。 In order to solve the problem of tracking precision caused by elastic deformation and vibration in vehicle-mounted flexible arm system, compensation must be added to solve this problem. To this end, this paper presents the structural model diagram of flexible manipulator system and establishes the system dynamics At the same time, based on the singular perturbation theory, the system is decomposed with double time scales, and the control methods are designed for fast and slow time-scale systems. The effects of trajectory compensation and vibration suppression are achieved.