行星减速器存在齿轮间隙时驱动旋转双柔性梁结构是一个强耦合、非线性多输入多输出(MIMO)控制系统，针对该系统的振动控制问题，提出一种基于 MIMO 系统的分层递推模糊控制算法． 首先在模糊控制器中引入分层结构，将旋转双柔性梁的系统运行状态划分为不同的区间，进行控制算法设计;然后建立行星减速器驱动旋转双柔性压电梁实验平台，利用压电片驱动器和交流伺服电机复合驱动抑制双柔性梁结构振动，对控制算法进行实验验证． 结果表明，与比例加微分(PD)控制算法相比，所提出的分层递推模糊控制算法对结构大幅值振动和小幅值振动都有较快的抑制效果．

The rotating double flexible beam structure driven by a planetary reducer with gear backlash is a multiple-input multiple-output (MIMO) system of strong coupling and nonlinear characteristics． In order to solve the
vibration control problem in this system，a hierarchical fuzzy control algorithm on the basis of the MIMO system is proposed． In the algorithm，first，the hierarchical structure is introduced into the fuzzy controller，and the system running state of the rotating double flexible beam is divided into different zones． Then，the experimental platform of the rotating double flexible piezoelectric beam driven by a planetary reducer is established，and piezoelectric actuators and an alternating current (AC) servo motor are used to attenuate the vibrations of the double flexible beam structure，so as to verify the proposed algorithm by experiments． The results demonstrate that，in comparison with the proportional and derivative (PD) controller，the proposed algorithm can suppress both the large amplitude vibrations and the small amplitude vibrations of the structure more quickly．