To realize the undulatory control of the flexible fin, a locomotory model is analyzed and a distributed control structure is designed. 针对柔性长鳍特有的波动控制问题，本文分析了柔性长鳍的运动模型，并设计了一种分布式控制系统结构。
Secondly, a motion and a cutting model of abrasive stone superfinishing are built respectively, and optimal process parameters and conditions are acquired. 其次，建立了油石超精加工的运动模型和切削模型，对滚子表面形貌进行三维模拟，并计算出油石超精加工的切削量，获得最优加工工艺参数和条件。
