【目的】柔性机械臂因低刚度特性易诱发残余振动，导致末端定位精度劣化；同时，负载扰动引发的动态波动与柔性轴形变产生的负载侧位置滞后，进一步制约高精度控制。传统输入整形技术虽可抑制振动，但其开环特性无法同步解决上述多源扰动问题。针对上述难题，本文提出一种零振动微分动态转矩反馈补偿负载位置滞后补偿(ZVD-DTFC-LPFC)复合控制策略。【方法】基于双惯量系统模型构建开-闭环协同架构，开环侧采用零振动微分(ZVD)输入整形抑制残余振动；闭环侧设计动态转矩反馈补偿(DTFC)，通过降维状态观测器实时估计轴转矩，形成位置-转速-转矩-电流四环串级控制抵抗负载扰动；进一步设计负载位置滞后补偿(LPFC)算法，动态计算负载位置偏差叠加至电机编码器信号，消除稳态滞后。【结果】仿真结果表明，ZVD-DTFC-LPFC的空载残余振动抑制率达98%；25%、50%、100%负载突变下的动态响应时间平均为0.11 s，较ZVD缩短了54%；带载稳态位置滞后角<0.005 rad，较未补偿前减少了97%。【结论】ZVD-DTFC-LPFC策略将开环抑振与闭环抗扰方法协同，实现振动-扰动-滞后多目标优化，为精密柔性机械臂提供了高鲁棒解决方案。

[Objective] Flexible manipulators are prone to residual vibrations due to their low-stiffness characteristics, resulting in degraded end-effector positioning accuracy. Additionally, dynamic fluctuations caused by load disturbances and load-side positional hysteresis induced by flexible shaft deformation further constrain high-precision control. Although conventional input shaping techniques can suppress vibrations, their open-loop nature fails to simultaneously address these multi-source disturbances. To address these challenges, this paper proposes a zero vibration and derivative-dynamic torque feedback compensation-load position feedback compensation (ZVD-DTFC-LPFC) composite control strategy. [Methods] Based on a dual-inertia system model, an open-loop and closed-loop collaborative architecture was constructed. The open-loop side employs zero vibration and derivative (ZVD) input shaping to suppress residual vibration. The closed-loop side designed dynamic torque feedback compensation (DTFC), which used a reduced-order state observer to estimate the shaft torque in real time, forming a four-loop cascade control of position-speed-torque-current to resist load disturbances. Additionally, a load position feedback compensation (LPFC) algorithm was designed to dynamically calculate the load position deviation and superimpose it onto the motor encoder signal to eliminate steady-state lag. [Results] Simulation results showed that the residual vibration suppression rate of ZVD-DTFC-LPFC under no-load conditions was 98%; the average dynamic response time under 25%, 50%, and 100% load changes was 0.11 s, which was 54% shorter than that of ZVD; the steady-state position lag angle under load was less than 0.005 rad, which was reduced by 97% compared to before compensation. [Conclusion] The ZVD-DTFC-LPFC strategy synergizes open-loop vibration suppression with closed-loop disturbance rejection, achieving multi-objective optimization of vibration, disturbance, and hysteresis. This framework provides a robust paradigm for precision control of flexible manipulators.