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利用压电材料作为传感器和作动器，建立了柔性四连杆机构振动主动控制实验系统；通过理论分析和实验研究建立了控制系统的模型；根据控制系统的特点，采用了内模控制策略，并在具体实施中，增加了参数辨识环节，使得控制器对于机构转速变化具有鲁棒性．将控制方案实施到柔性四连杆机构振动主动控制实验之中，取得了满意的控制效果．
The piezoelectric vibrator is used as sensor and actuator, and the active vibration control experiment system of flexible four-bar mechanism is established. The model of the control system is established through theoretical analysis and experimental research. According to the characteristics of the control system, the internal model control strategy is adopted. And in the specific implementation, an increase of parameter identification links, making the controller for the mechanism of speed changes with robustness. The control scheme is implemented to the active vibration control experiment of flexible four-bar linkage, and the satisfactory control effect has been achieved.