Flexible mechanical arm control method and system based on finite element discretization and modal order reduction

The invention discloses a flexible mechanical arm control method and system based on finite element discretization and modal order reduction. The method comprises the steps that a flexible mechanical arm connecting rod is divided into a plurality of units; constructing a motion control equation of any unit of the discretized flexible mechanical arm; finite element motion control equations of all the units are established, and the finite element motion control equations of all the units are assembled to obtain a global dynamics finite element equation of the flexible mechanical arm; the generalized eigenvalue problem of the global dynamics finite element equation is solved, and the modal shape of each order of the flexible mechanical arm is obtained; performing order reduction transformation on the global dynamic finite element equation based on the modal shape of each order to obtain a reduced global dynamic finite element equation; and motion control is conducted on the flexible single-rod mechanical arm of