73 results about "Harmonic vibration" patented technology

The invention discloses a fluid valve. The fluid valve comprises a valve body; an elastic device; the valve element is arranged on the valve body in a sliding mode in the fluid flowing direction, an elastic device is arranged between the valve element and the valve body, a pressed face is formed on the liquid inlet side of the valve element, and the stress of the pressed face is opposite to the acting force of the elastic device on the valve element. When the valve element slides relative to the valve body in the direction in which a valve port formed between the valve element and the valve body becomes smaller, the elastic deformation amount of the elastic device is increased. And the sound monitoring device is used for identifying vibration sound generated by the valve core in a preset flow range. When the flow reaches the preset flow, the valve element and the elastic device form simple harmonic vibration, when the flow reaches the preset flow, the valve element can generate corresponding vibration sound, meanwhile, the vibration sound is monitored by the sound monitoring device, the flow monitoring effect is achieved, and therefore the fluid valve can effectively solve the problem that an existing fluid valve is poor in flow monitoring effect. The invention further discloses a fluid supply system comprising the fluid valve.

The invention relates to the technical field of maglev motor dynamics and control, and discloses a bearingless asynchronous motor multi-frequency harmonic vibration cooperative suppression method, which comprises the following steps: acquiring radial displacement signals and mechanical angular velocity of a rotor in an x axis and a y axis under a stator fixed coordinate system, and stacking double-axis displacement signals into an observation vector; calculating a weighting coefficient of the normalized residual error through a Huber robust cost function, and outputting the amplitude, the phase and the confidence of each order of harmonic wave; estimating the total disturbance of the system by using a linear extended state observer with harmonic energy injection, wherein the total disturbance is obtained by weighted summation according to the confidence, order and mechanical angular velocity of each order of harmonic; calculating a feedback control force according to the total disturbance estimated value, and superposing the feedforward compensation force and the feedback control force to generate a total suspension force instruction; and according to the total suspension force instruction, inversely calculating a suspension winding current reference value and outputting a control instruction. According to the invention, a mutually complementary cooperative suppression mechanism is formed, and the suppression precision of multi-frequency vibration is improved.

The invention relates to the technical field of vibration control, in particular to a truss vibration control method fusing a virtual vibration absorber and a notch filter, and the method comprises the steps: building a dynamic model of a truss, carrying out the modal identification of the dynamic model, obtaining the modal parameters of the truss, determining the positions of the truss where vibration exciters are installed according to the modal parameters, and carrying out the vibration control of the truss. And after the position of the vibration exciter is confirmed, a controller is established in combination with the virtual vibration absorber and the notch filter, an output value of the controller serves as a control value of the vibration exciter and is input into the vibration exciter, and the vibration exciter is controlled to suppress truss vibration at the position of the vibration exciter. According to the method disclosed by the embodiment of the invention, the fixed-frequency disturbance is provided by using the inertial exciter, the active cancellation of the fixed-frequency disturbance on the truss is realized, and the harmonic vibration of the truss can be efficiently, accurately and stably inhibited in a complex space environment.

The invention discloses a railway vehicle body abnormal vibration diagnosis and recognition method. The method comprises the following steps that 1, an accelerometer sensor is used for collecting vehicle body vibration signals; step 2, using EMD to decompose the vibration signal x (t), wherein each mode IMFi (t) after decomposition corresponds to a certain frequency component in the vibration signal; step 3, after preprocessing the data, selecting modal data of the first 3-5 orders, and then performing fast Fourier transform on each modal IMFi (t) to obtain frequency spectrum information of each modal IMFi (t); step 4, smoothing processing is carried out on the frequency spectrum image; 5, calculating the energy ratio P of the vibration dominant frequency; step 6, calculating a performance index Q; and 7, judging whether the vehicle is in an abnormal state or not according to the P and the Q. According to the method, the vibration energy ratio index P and the performance index Q are used in cooperation, whether the stability, comfort and other performance of vehicle operation are good or not can be clearly known, and meanwhile whether the vehicle body or the bogie has obvious harmonic vibration or not can be judged.

The invention relates to the technical field of unmanned aerial vehicle nondestructive testing, and discloses an unmanned aerial vehicle precision part rapid detection system based on multi-sensor fusion. Low-frequency harmonic vibration excitation is applied through a micro vibration excitation module, and a phase offset auxiliary harmonic signal is generated in combination with a multi-harmonic phase synchronous modulation module; and the defect response of the precision part is amplified. The multi-sensor array synchronously collects vibration, optical and thermal response data, and data calibration is carried out through the sensor array self-calibration network. And the defect pattern library pre-matching engine matches the current detection data with the historical defect pattern. And the fusion processing unit performs weighted fusion on the multi-modal detection data, adjusts detection parameters according to a detection result through a closed-loop feedback loop, and triggers iterative detection. According to the invention, low-frequency harmonic vibration excitation is applied through the micro vibration excitation module, and the multi-harmonic phase synchronous modulation module is combined to superpose auxiliary harmonic signals of phase deviation, so that the identification capability of micro defects is improved.

The invention discloses a shape control method for a spaceflight 2195 aluminum alloy frame beam piece. The shape control method comprises the following steps: carrying out vacuum gas quenching on an annular part; performing subzero treatment and uphill quenching treatment on the annular part subjected to vacuum gas quenching; and carrying out harmonic vibration aging treatment on the annular part subjected to liquid helium subzero treatment, and cooling to obtain the frame beam part. The invention further discloses the frame beam piece obtained through the control method. According to the method, the residual stress of the spaceflight 2195 aluminum alloy frame beam piece can be reduced, uniform stress distribution is achieved, quadratic term precipitation and grain refinement are promoted, and the mechanical property of the component is improved.

The utility model relates to the technical field of connecting devices, and discloses a novel mining integrated electric roller and frequency converter connecting device which comprises a connector shell, a plurality of first screw holes are formed in the bottom end of the connector shell, and bolts are in threaded connection with the interiors of the first screw holes. A sealing assembly is fixedly connected to the interior of the top end of the connector shell, a plurality of filtering holes are formed in the interior of the top end of the connector shell, two threaded rods are connected to the interior of the top end of the connector shell in a threaded mode, and driving caps are fixedly connected to the sides, away from each other, of the two threaded rods. The outer portions of the close sides of the two threaded rods are rotationally connected with damping plates. According to the utility model, harmonic vibration caused by electromagnetic interference generated when the speed of the motor is adjusted can be effectively reduced, so that the abrasion of equipment is reduced, the internal part of the equipment can be kept clean, the heat dissipation efficiency reduction caused by dust accumulation is avoided, and the equipment is maintained in an optimal working state.

The application discloses a centrifugal fan impeller, a centrifugal fan and a bionic winglet design method, which comprises an impeller body and a blade end winglet, a plurality of blade end winglets are fixedly arranged at one end of the impeller body and are arranged into a circular ring along the circumference of the impeller body; the blade end winglets are gradually increased or decreased along the axial length of the impeller body in sequence along the circumference of the impeller body to form a wave-shaped structure; on the one hand, the bionic wave-shaped distributed blade end winglet structure can straighten the airflow, inhibit the generation and development of vortexes and further reduce vortex noise; on the other hand, the blade end winglet structure with different length distribution characteristics can break the periodic frequency characteristics of the noise source, inhibit the noise peak and effectively inhibit harmonic vibration noise; on the third hand, the blade end winglet can further work on the low-speed and low-pressure airflow, inhibit the gas backflow leakage and the airflow hindering effect at the inlet, and further increase the outlet air pressure and air volume of the fan.

This invention relates to the field of aerospace control technology, and particularly to a method for canceling micro-vibrations of a magnetically levitated CMG group based on rotor imbalance adjustment. The method includes: establishing models of the unbalanced forces and torques of each magnetically levitated rotor; establishing a dynamic synthesis model of the CMG group; establishing the celestial attitude dynamics equations based on the dynamic synthesis model and Euler equations; establishing a CMG group control model; constructing an objective function using the CMG group control model and the celestial attitude dynamics equations; establishing a current control model between the power and current of the rotor's radial translation and radial rotation; establishing the dynamic rotation equations of the high-speed rotor's radial translation and radial rotation; and determining the output current based on the dynamic rotation equations and the control model to adjust the rotor's imbalance and phase, thereby canceling the harmonic vibrations of the magnetically levitated CMG rotor.

A tip-enhanced spectroscopy may include a substrate on which liquid containing an analyte is to be positioned, a tip extending from a fixed end to a free end adjacent to a location for the analyte, and a vibration source configured to harmonically vibrate the tip based on a preset natural frequency. The preset natural frequency may be a natural frequency of a tuning fork.

The utility model relates to the technical field of hot water equipment, and discloses hot water equipment with a water pump connecting pipeline vibration isolation structure, which comprises a water inlet pipe joint, a water pump water inlet pipe, an equipment shell and a driving side anti-vibration pad, the driving side anti-vibration pad is clamped between the water inlet end of the water pump water inlet pipe and the equipment shell; the water inlet pipe connector is located on the outer side of the equipment shell and is in sealed connection with the water inlet end of the water pump water inlet pipe. The active side anti-vibration pad is arranged between the water pump water inlet pipe and the inner side wall of the equipment shell and used for dissipating the vibration quantity on the reverse flow path of the water pump water inlet pipe and the equipment shell and weakening the single-frequency noise peak value of water; and meanwhile, the resonance problem caused by the fact that vibration of the water pump in circulation operation is transferred to the equipment shell through the water pump water inlet pipe is effectively eliminated, compound noise generated by harmonic vibration is avoided, and the smoothness of the gas water heater during working and the comfort of a user are improved.

This invention discloses a semi-analytical method and system for calculating the stiffness and damping coefficients of foil gas dynamic bearings, relating to the field of air conditioning and clothing temperature control technology. It aims to address the shortcomings of traditional Reynolds equation methods in terms of accuracy and universality, as well as the low computational efficiency and mesh distortion issues of existing CFD methods. The method includes: constructing a fluid-structure interaction (FSI) computational model to calculate and obtain the static equilibrium position of the journal; applying an eccentricity perturbation at the static equilibrium position and performing an additional steady-state FSI calculation to obtain the four stiffness coefficients of the foil bearing using a first set of analytical formulas; applying small-amplitude simple harmonic vibrations along the x and y directions to the journal and performing two transient FSI calculations to obtain the four damping coefficients of the foil bearing using a second set of analytical formulas. This invention combines high accuracy and high computational efficiency, providing an efficient and reliable analytical tool for evaluating the dynamic characteristics of foil bearings and designing the stability of the rotor systems they support.

1. Name of the design product: unmanned aerial vehicle holder (self-adaptive harmonic vibration). 2. Use of the design product: used for assisting the flight and shooting of unmanned aerial vehicle. 3. Design points of the design product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.

The utility model discloses a pug vibrating screen device which comprises an outer box and further comprises a circulation overturning type swing assembly, the circulation overturning type swing assembly comprises a screen plate arranged at the bottom of the outer box, screen holes are formed in the surface of the screen plate, inserting rods are rotationally installed on the two sides of the outer box, a pendulum bob is installed on one side of each inserting rod, and a motor is installed on one side of each pendulum bob. The vibration structure comprises a rammer installed on one side of the outer box, and a driver is installed on one side of the rammer; the pendulum bob arrays are arranged on the two sides of the outer box, and the pendulum bobs on the two sides are oppositely installed in the initial state. And the circulating overturning type swinging assembly, the sieve pore adjusting assembly and the vibration structure are matched with one another, so that the multifunctional anti-blocking effect of the sieve pore part is achieved. According to the circulating overturning type swing assembly, the phenomenon that materials fall into sieve holes regularly due to simple harmonic vibration to form blockage is avoided by adopting a transverse 8-shaped operation vibration sieve operation track; the moving track enables the materials not to easily generate turbulent flow, so that the problem of accumulation at the sieve hole part is reduced.

A cleaning and caring appliance and a transducing apparatus thereof. A transducer includes a transducer frame and magnets attached to the transducer frame, an elastic assembly and a drive shaft, the elastic assembly includes a transmission arm and an elastic piece held by the transmission arm, and the transmission arm is fixedly connected to the drive shaft, the elastic piece has an outer edge and an inner edges, corresponding to a holding portion of the transmission arm, a recess is formed on the transmission arm, and a recess depth D of the recess is greater than a first fixed coupling width B1 from a bottom surface of the recess and a longitudinal axis (L). The solution avoids the suppression of a harmonic vibration rotation angle by damping during a harmonic motion, allowing a cleaning assembly such as a brush head to have a larger rotation angle and improving the mechanical efficiency.

The invention relates to the technical field of vehicles, for example, relates to a prediction method and device for beat vibration of an automobile steering wheel and a computer readable storage medium. The prediction method comprises the steps that the upper limit target value X1 of steering wheel vibration caused by engine excitation is set to be equal to (A1, omega1), the upper limit target value X2 of steering wheel vibration caused by fan excitation is set to be equal to (A2, omega2), A is the vibration amplitude, and omega is the vibration angular frequency; taking the X1 and the X2 as two simple harmonic vibration inputs, carrying out waveform superposition in simulation software, and synthesizing into a predicted beat vibration time domain signal X (t); exporting the beat vibration time domain signal X (t) as a time domain driving file in a preset format at a set sampling frequency and duration; inputting the time domain driving file into a vibration exciter of a built steering system vibration excitation rack so as to drive a steering wheel to generate vibration; and performing beat vibration data analysis based on the vibration signal of the steering wheel to obtain a beat vibration prediction result. Before a sample vehicle is manufactured, the beat vibration problem is intervened in advance, and expensive rectification in the later real vehicle stage is avoided.

The application discloses a single-press trigger type manual power generation module, and relates to the field of power generation devices, which comprises a magnetic circuit assembly and a swing assembly arranged coaxially, wherein a permanent magnet on the swing assembly and the magnetic circuit assembly form a variable magnetic circuit, and a balance assembly is further arranged on the balance wheel; the balance assembly is used for accurately configuring the rotational inertia and the gravity center of the swing assembly, so that the balance wheel can perform simple harmonic vibration at a fixed frequency and a decay law after each pressing, and the stability of output electric energy is ensured; meanwhile, the balance assembly is used for balancing the gravity distribution on the balance wheel, so that the "equivalent gravity center" of the balance wheel coincides with the axis of the rotating shaft; when the balance wheel swings, the operating force and the reset element are only used for overcoming the friction between components, so that the operating force felt by the operator is basically unchanged in different spatial postures, and the operation feeling of the operator is improved. The application further discloses a self-powered device using the power generation module, and the self-powered device does not need any external power supply, and is maintenance-free and wireless.

This application discloses a method and device for determining an engine state. The method comprises obtaining a vibration signal from a cylinder to be inspected in the engine; processing the vibration signal to obtain a harmonic vibration amplitude; and determining that the engine state is a misfire fault state if the harmonic vibration amplitude is greater than a standard vibration amplitude. In this manner, the vibration signal from the cylinder to be inspected in the engine is processed to obtain a resonant vibration amplitude. The resonant vibration amplitude is then compared with the standard vibration amplitude to determine whether the engine is in a misfire fault state. This method can accurately identify an engine in a misfire fault state, improving the accuracy of identifying the engine's state and thereby effectively protecting the engine.

This invention discloses an active vibration control system and method for tiltrotor aircraft wings, comprising: an actuator assembly consisting of piezoelectric laminated actuators symmetrically arranged within the wing; acceleration sensors, including a wing acceleration sensor located at the outer end of the wing and a fuselage acceleration sensor located in the cockpit; and an adaptive control unit for acquiring sensor signals and outputting control commands. A dual-loop control and flight state tracking strategy is employed: the first control loop implements dynamic characteristic control for the wing-rotor system to suppress transient responses; the second control loop implements steady-state response control for the airframe structure to suppress steady-state harmonic vibrations at the rotor pass frequency and its integer multiples. The flight mode is determined based on the rotor speed and nacelle tilt angle, and the weights of the dual-loop control are dynamically adjusted. This invention achieves adaptive vibration suppression of the tiltrotor aircraft throughout its entire flight envelope, balancing transient and steady-state response control, improving flight quality and extending the lifespan of critical equipment.

A cleaning and caring appliance and a transducing apparatus thereof. A transducer includes a transducer frame and magnets attached to the transducer frame, an elastic assembly and a drive shaft, the elastic assembly includes a transmission arm and an elastic piece held by the transmission arm, and the transmission arm is fixedly connected to the drive shaft, the elastic piece has an outer edge and an inner edges, corresponding to a holding portion of the transmission arm, a recess is formed on the transmission arm, and a recess depth D of the recess is greater than a first fixed coupling width B1 from a bottom surface of the recess and a longitudinal axis. The solution avoids the suppression of a harmonic vibration rotation angle by damping during a harmonic motion, allowing a cleaning assembly such as a brush head to have a larger rotation angle and improving the mechanical efficiency.

The structure-power equipment coupling system vibration control analysis method comprises the following steps: taking industrial upstairs-going mechanical power equipment, a single (two)-stage vibration isolation system and a floor system or a thin plate foundation as a composite vibration control system, and designing the mechanical power equipment according to the actual size and the vibration isolation system of the mechanical power equipment; the four supports are arranged at four positions on a floor system or a thin plate foundation; a floor system or a thin plate foundation is regarded as a fixed support, and a floor system or thin plate foundation vibration expression is established according to harmonic vibration excitation generated by mechanical power equipment; according to a mechanical four-end connection principle and an admittance method, a transmission force expression from mechanical power equipment to a single (two)-stage vibration isolation system to a thin plate foundation is deduced to serve as input of floor system or thin plate foundation vibration; calculating the vibration speed of the four-point support part of the thin plate foundation; a power flow for causing thin plate vibration of a mechanical equipment vibration isolation system is introduced; carrying out multi-objective optimization; and optimal design parameters of the industrial upstairs structure-power equipment coupling system are obtained.

The application discloses a kind of welded structure harmonic response structural stress fatigue life prediction method, comprising the following steps: step 1: build the finite element model of welded structure containing weld;Step 2: using unit external load to the finite element model of welded structure harmonic sweep frequency obtains node response displacement;Step 3: according to external load coefficient obtains the unit stiffness matrix and node displacement under external load, as follows: step 4: calculate the simple harmonic response structural stress and equivalent structural stress of structure.The welded structure harmonic response structural stress fatigue life prediction method of the application: (1) compared with traditional quasi-static method, can solve the problem that quasi-static method cannot be carried out vibration fatigue evaluation, (2) compared with frequency domain structural stress method, can solve the problem that frequency domain structural stress method cannot evaluate simple harmonic vibration fatigue, (3) compared with traditional transient structural stress method, the method of the application is more efficient, and the result error is very small.

The present invention relates to a nonlinear blade flutter assessment method based on accumulated work measurement and fatigue life. The method obtains the maximum allowable blade vibration amplitude based on fatigue life as a target. Taking into account the blade nonlinearity caused by excessive amplitude in simple harmonic vibration, the blade is vibrated at the maximum allowable vibration amplitude. The harmonic balance method is then used to solve the unsteady flow, obtaining aerodynamic accumulated work. The positive or negative value of the accumulated work is then used to determine whether the blade flutter characteristics meet the design safety requirements. This method uses accumulated work measurement and fatigue life to determine whether blade vibrations are at risk of exceeding amplitude limits, effectively resolving the issue of conservatism in flutter linear analysis and improving the accuracy of blade flutter assessment.

An automated system to monitor, record, and stop landfill harmonic vibrations before they become detectable to the local community is provided. Key components of the system are measured and monitored for vibration intensity and duration. When any of these measurements exceeds critical set point values, the landfill gas blower speed is reduced or the system is shutdown.

The invention discloses a micro-vibration adjusting bionic gripper, and belongs to the field of bionic grippers. The device is composed of a main body structure, a tail end assembly structure and an adhesion structure. The tail end assembly structure is connected with the main body structure through the fixed shell; the main body structure comprises a lower shell, a gear motor, a lead screw, an upper shell, a fixing bolt, a bearing, a fixing shell and a connecting rod. And the gear motor is connected with the screw rod to provide reciprocating power, so that the screw rod can linearly move on the fixed guide rail. The tail end assembly structure comprises a connecting rod, a lower connecting rod, a first torsion spring, a second torsion spring, a bionic adhesion structure, a bearing structure and a simple harmonic vibration system. The tail end assembly structure converts the reciprocating linear motion of the lead screw into plane circular motion through mechanical conversion, and therefore the whole device is driven to carry out expected function operation. By introducing micro vibration, the bionic gripper can enhance the surface energy, and has the advantages of lossless gripping, high precision, high adaptability, convenience in operation and the like.

The invention discloses a helicopter rotor dynamic balance debugging method, which comprises the following steps of: setting that a rotor system has dynamic unbalance mass with equivalent mass of m0 on a circle with radius of R, and enabling a rotor bearing seat to generate radial harmonic vibration; the amplitude A0 and the phase alpha0 of the vibration signal of the bearing seat are obtained by measuring the vibration signal of the bearing seat and the rotating speed signal of the rotor and analyzing the measured data. A balance weight m1 is arranged at the balance weight position of any paddle; the amplitude A'and the phase alpha 'of the vibration signal of the bearing seat are obtained by measuring the vibration signal of the bearing seat and the rotating speed signal of the rotor and analyzing measurement data; determining an original dynamic unbalance mass m0 and an azimuth angle delta of the original dynamic unbalance mass according to the obtained A0, alpha0, A'and alpha '; and based on the determined original dynamic unbalance mass m0 and the azimuth angle delta, performing dynamic balancing of the rotor system. According to the invention, on-line debugging of the dynamic unbalance mass of the helicopter rotor in any azimuth angle can be realized without professional dynamic balance debugging equipment.

The invention belongs to the field of ultrasonic elliptical vibration assisted ultra-precision cutting machining, and discloses a method for predicting the residual height of an ultrasonic elliptical vibration turning surface. According to the method, a numerical method for solving the residual height introduced in the cutting direction by ultrasonic elliptical vibration turning is established on the basis of a simple harmonic vibration time reversal symmetry principle according to the principle that ultrasonic simple harmonic vibration has motion displacement symmetry and time reversal symmetry about a balance position in a complete period. The method can be suitable for calculating the theoretical residual height of common plane cutting and slope cutting in the cutting direction. According to the method, a new thought is provided for calculation of the theoretical residual height of the ultrasonic elliptical vibration cutting surface, and the reasonability of ultrasonic elliptical vibration auxiliary ultra-precision cutting process parameter selection can be judged in an auxiliary mode in actual production.

The invention discloses a simple harmonic vibration analysis method based on a modal superposition method, and the method comprises the steps: carrying out the modal analysis of a three-dimensional model of equipment, and obtaining a solution of the modal space of the equipment; a periodic load is obtained, the previous solution of the modal space is selected as the solution of the displacement response of the system in the physical space, the system motion equation under the simple harmonic vibration after coordinate transformation is solved, and a frequency response curve of the equipment structure is obtained; whether the maximum deformation value of the equipment structure under the action of the corresponding periodic load is smaller than an allowable value or not is analyzed by combining the frequency response curve of the equipment structure, and if yes, it is verified that the equipment design meets the requirement; otherwise, verifying that the equipment design does not meet the design requirement, performing reinforcement design on the part with weak structural strength, and repeating the steps until the equipment design meets the requirement. The method ensures that the use of the equipment is not influenced when the equipment is subjected to specified periodic load, and is used for improving the product design efficiency and shortening the equipment design period.

The embodiment of the invention relates to the technical field of spaceflight control, in particular to a magnetic suspension CMG group micro-vibration cancellation method based on rotor imbalance adjustment. The method comprises the following steps: establishing models of unbalanced force and unbalanced moment of each magnetic suspension rotor; establishing a dynamic synthesis model of the CMG group; establishing a star attitude kinetic equation according to the kinetic synthesis model and an Euler equation; establishing a CMG group control model; constructing a target function by using a CMG group control model and a star attitude kinetic equation; establishing a current control model between power and current when the rotor translates along the radial direction and rotates around the radial direction; establishing a power rotation equation that the high-speed rotor translates along the radial direction and rotates around the radial direction; and according to the power rotation equation, the control model determines an output current so as to adjust the unbalance amount and the phase of the rotor, and offset the same-frequency harmonic vibration of the magnetic suspension CMG rotor.

The application discloses a flexible robot joint harmonic reducer high-frequency resonance suppression method, relates to the technical field of servo system control, and can solve the problem of low mechanical arm position tracking precision and torque output precision caused by the influence of high-frequency resonance and nonlinear transmission torque caused by the physical structure and assembly error of the harmonic reducer itself in the control of the robot flexible joint driven by the harmonic reducer. The application comprises the following steps: in the first step, a corresponding mathematical model is constructed according to the dynamics relationship of the flexible joint of the mechanical arm. In the second step, appropriate parameters are selected, and a harmonic disturbance observer is designed to online and real-time estimate the high-order harmonic vibration caused by the flexibility of the harmonic reducer. In the third step, the harmonic disturbance estimation value obtained in the second step is combined with the PD feedback controller of the flexible joint of the mechanical arm to compensate and suppress the second harmonic disturbance of the system, thereby forming the harmonic reducer high-frequency resonance suppression method of the flexible joint of the mechanical arm.