A spring connected translational double flexible beam system is designed to study the vibration characteristics and active vibration control methods of flexible multibody systems. In view of the complexity of modeling and coupling nonlinearity of the translational double flexible beam system， model-free adaptive control algorithm is adopted to suppress the vibration of the flexible multibody system based on the dynamic linearization data model. Subsequently， an experimental setup is constructed to verify the adopted method. Both piezoelectric actuators and servomotors are conducted to perform hybrid control experiments on vibration suppression of double flexible beam system. Experimental results demonstrate that the adopted model-free adaptive controller can suppress the vibration near the equilibrium point effectively.