Thepositioningcontrolandelasticvibrationsuppressingofanovel2-DOFammunitiontransfer manipulators were analysed in consideration of joint chain flexibility and payload uncertainty.Regarding the joint and chain's elasticity as a non-inertial spring,a dynamic model of the manipulator was derived via Lagrange method.Based on the singular perturbation method,the model was decomposed into two part,a fast subsystem and a slow subsystem.For the fast subsystem,a velocity difference feedback controller was proposed to suppress the elastic vibration.For the slow subsystem,a PD controller with continuous time-varying gains was designed based on a given implicit Lyapunov function. The controller's gains,which are continuous-differentiable functions of the state,increase and tend to infinity as the system approaches the original state,but the control force always satisfies the given constraint.The simulation results demonstrate that the controller greatly compensates the effects of transmission flexibility and payload uncertainty,fulfills the accurate point to point control of the ammunition transfer manipulator,and is of good robustness.%针对现有坦克自动装弹机无法实现任意角度装填问题，设计出两自由度的弹药传输机械臂。研究考虑链条、转铰柔性且负载变化情况弹药传输机械臂位置控制与柔性振动抑制。将链条与转铰简化为线性无惯量弹簧，采用第二类Lagrange方法建立弹药传输机械臂刚柔耦合动力学模型。基于奇异摄动技术设计系统混合控制策略，柔性振动抑制采用速度反馈控制；刚性部分大范围运动采用基于隐式Lyapunov函数的连续时变增益PD控制，控制器增益为系统状态变量的可微函数，随系统状态变量逐渐趋向于零，增益逐渐趋于无穷大，而控制力始终保持在有界范围内。仿真结果显示，该混合控制器能克服负载变化及柔性振动影响，实现弹药传输机械臂点到点位置控制及柔性振动抑制，具有较强的鲁棒性。
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