采用第二类拉格朗日动力学方程，选取合理的广义坐标，写出动能、势能、广义力，建立该系统的动力学方程。采用Matlab与ADAMS，以四阶隆格-库塔时域积分算法为基础，编制积分求解程序，程序可对驱动力和力矩进行输入。同时利用线性代数的知识，求解系统的特征频率，了解系统的固有频率特性。并在ADAMS中进行仿真验证及优化。(Using the second type of Lagrangian dynamic equation, select reasonable generalized coordinates, write out the kinetic energy, potential energy, and generalized force, and establish the dynamic equation of the system. Using Matlab or other language tools, based on the fourth-order Runge-Kutta time-domain integration algorithm, the integration solving program is compiled, and the program can input the driving force and torque. At the same time, use the knowledge of linear algebra to solve the characteristic frequency of the system and understand the natural frequency characteristics of the system.)