Electro-hydraulic load simulator based on dynamic adjustment of synchronous position compensation link

Abstract

The application discloses an electro-hydraulic load simulator based on a dynamic adjustment synchronous position compensation link and belongs to the field of electro-hydraulic servo control and semi-physical simulation. The electro-hydraulic load simulator comprises a rudder system, a loading system and a motion synchronous compensation system. The application solves the problem that the active motion of the rudder system seriously influences the loading performance of the load simulator, namely the problem of redundant force. The application can eliminate the redundant force, the control strategy does not need to consider the problem of redundant force compensation, the complexity of the control strategy is reduced, and the control strategy is simple and reliable. The application solves the problem that the low loading precision is caused by the redundant force in the electro-hydraulic load simulator, adopts an electro-hydraulic servo system, has high-precision and high-frequency torque loading performance, and has a scientific and reasonable structure.

Description

TECHNICAL FIELD

[0001] The present application relates to an electro-hydraulic load simulator based on dynamic adjustment of synchronous position compensation link, and belongs to the field of electro-hydraulic servo control and semi-physical simulation. BACKGROUND

[0002] The electro-hydraulic load simulator is a semi-physical simulation device used to simulate the dynamic force / torque of a bearing system in the actual working process under laboratory conditions. The system is widely used in various fields, such as simulating the air dynamic force / torque of the rudder surface of an airplane or a missile, the sea water dynamic force / torque of a ship rudder, and the seismic wave dynamic torque. Using the load simulation system can simulate the above-mentioned various loads in a laboratory environment, and can evaluate the structural material strength, control accuracy, response speed and system reliability of the rudder device, so as to evaluate the overall performance of the rudder device, reduce the product development cost and cycle, and have great practical significance for the national defense and industrial production fields of our country. In the prior art, the rudder system and the loading system are connected by an approximately rigid connection, and when the rudder system moves, the loading system hydraulic cylinder piston rod will also move, which will cause forced flow in the loading system hydraulic cylinder, and then generate excess force, which will seriously affect the loading accuracy. In addition, since the load spectrum to be simulated is a nonlinear function, the load simulator is required to be a high-order static error-free system, but due to the existence of excess force, it is difficult to achieve the accuracy of dynamic loading. The control strategy of the loading system needs to compensate for the excess force, which makes the design of the control strategy more difficult and complex, and is difficult to apply to different objects. In order to eliminate the excess force, realize high-precision loading, reduce the complexity of the control strategy, and realize the production and use of the electro-hydraulic load simulator, an electro-hydraulic load simulator capable of eliminating excess force is urgently needed. SUMMARY

[0003] The present application relates to an electro-hydraulic load simulator based on dynamic adjustment of synchronous position compensation link, and belongs to the field of electro-hydraulic servo control and semi-physical simulation.

[0004] The electro-hydraulic load simulator based on dynamic adjustment of synchronous position compensation link comprises a rudder system, a loading system and a motion synchronous compensation system, the rudder system comprises a rudder hydraulic cylinder base, a rudder system hydraulic cylinder, a rudder system hydraulic cylinder piston rod, a rudder system controller, a rudder system servo valve and a position signal generator, the rudder hydraulic cylinder base is fixedly connected with the ground, the rudder system hydraulic cylinder is fixedly connected with the rudder hydraulic cylinder base, the rudder system hydraulic cylinder piston rod is in sliding connection with the rudder system hydraulic cylinder, the rudder system hydraulic cylinder piston rod is fixedly connected with a rudder system displacement sensor, an output end of the rudder system displacement sensor is connected with an input end of a rudder system servo amplifier, an output end of the rudder system servo amplifier is connected with an input end of the rudder system controller, an output end of the position signal generator is connected with an input end of the rudder system controller, an output end of the rudder system controller is connected with an input end of the rudder system servo valve, an output end of the rudder system servo valve is connected with the rudder system hydraulic cylinder, the rudder system hydraulic cylinder piston rod is fixedly connected with a spring plate, the spring plate is fixedly connected with a load mass block, the loading system comprises a loading hydraulic cylinder base, a loading hydraulic cylinder piston rod, a force sensor, a loading system servo amplifier, a pressure sensor A, a pressure sensor B, a guide rail, a force function generator, the guide rail is fixedly connected with the rudder hydraulic cylinder base, the guide rail is in sliding connection with a sliding block, the loading hydraulic cylinder base is fixedly connected with the sliding block, the loading hydraulic cylinder base is fixedly connected with a loading hydraulic cylinder, the loading hydraulic cylinder piston rod is in sliding connection with the loading hydraulic cylinder, input ends of the pressure sensor A and the pressure sensor B are connected with two cavities of the loading hydraulic cylinder, output ends of the pressure sensor A and the pressure sensor B are connected with an industrial computer, the loading hydraulic cylinder piston rod is fixedly connected with the force sensor, an output end of the force sensor is connected with an input end of the loading system servo amplifier, an output end of the loading system servo amplifier is connected with an input end of a loading system controller, an output end of the force function generator is connected with an input end of the loading system controller, an output end of the loading system controller is connected with an input end of a loading system servo valve, an output end of the loading system servo valve is connected with the loading hydraulic cylinder, the force sensor is fixedly connected with the load mass block, the motion synchronous compensation system comprises a compensation hydraulic cylinder base, a compensation hydraulic cylinder, a compensation hydraulic cylinder piston rod, a compensation system servo valve and an industrial computer, the compensation hydraulic cylinder base is fixedly connected with the ground, the compensation hydraulic cylinder is fixedly connected with the compensation hydraulic cylinder base, the compensation hydraulic cylinder piston rod is in sliding connection with the compensation hydraulic cylinder, the compensation hydraulic cylinder piston rod is fixedly connected with a compensation system displacement sensor, an output end of the compensation system displacement sensor is connected with an input end of a compensation system servo amplifier, an output end of the compensation system servo amplifier is connected with the industrial computer, the industrial computer is connected with an input end of a compensation system controller, an output end of the position signal generator is connected with an input end of the compensation system controller, an output end of the compensation system controller is connected with an input end of the compensation system servo valve.The compensation system servo valve output end is connected with the compensation hydraulic cylinder.

[0005] Further, the position signal generator transmits the position signal instruction to the rudder system controller and the compensation system controller; the rudder system displacement sensor detects the position information of the rudder system hydraulic cylinder piston rod, and the detection signal is amplified by the rudder system servo amplifier and input to the rudder system controller; the compensation system displacement sensor detects the position information of the compensation hydraulic cylinder piston rod, and the detection signal is input to the industrial computer through the compensation system servo amplifier; the industrial computer inputs the detection signal to the compensation system controller; the rudder system controller controls the rudder system servo valve according to the position signal and the detection information; the compensation system controller controls the compensation system servo valve according to the position signal and the detection information; the rudder system servo valve drives the rudder system hydraulic cylinder piston rod to move; the rudder system hydraulic cylinder piston rod moves the spring plate, the load mass block, the force sensor and the loading hydraulic cylinder piston rod fixedly connected thereto; the compensation system servo valve drives the compensation hydraulic cylinder piston rod to move; the compensation hydraulic cylinder piston rod moves the loading hydraulic cylinder base, the sliding block and the loading hydraulic cylinder fixedly connected thereto; the loading hydraulic cylinder and the loading hydraulic cylinder piston rod can keep synchronous movement, and no forced flow is generated in the loading hydraulic cylinder to generate excess force.

[0006] Further, the pressure sensor A and the pressure sensor B detect the pressure of the two cavities of the loading hydraulic cylinder, and transmit the detection pressure difference signal to the industrial computer; the industrial computer converts the detection pressure difference signal into a digital signal and inputs it to the compensation system controller; the compensation system controller drives the compensation system servo valve to control the compensation hydraulic cylinder piston rod according to the digital signal; the compensation hydraulic cylinder piston rod moves the loading hydraulic cylinder base, the sliding block and the loading hydraulic cylinder fixedly connected thereto, and compensates for the influence of installation errors, machining errors and other factors to ensure the strict synchronous movement of the loading hydraulic cylinder and the loading hydraulic cylinder piston rod.

[0007] The working principle of this invention is as follows: The servo system controller controls the servo system servo valve based on the deviation between the position signal given by the position signal generator and the position signal of the servo system hydraulic cylinder piston rod detected by the servo system displacement sensor. This drives the servo system hydraulic cylinder piston rod to move, which in turn moves the spring plate, load mass block, force sensor, and loading hydraulic cylinder piston rod fixed to it. Simultaneously, the compensation system controller controls the compensation system servo valve based on the deviation between the position signal given by the position signal generator and the position signal of the compensation hydraulic cylinder piston rod detected by the compensation system displacement sensor. This drives the compensation hydraulic cylinder piston rod to move, which in turn moves the loading hydraulic cylinder base, loading hydraulic cylinder, and slider fixed to it on the guide rail. Pressure sensors A and B transmit the pressure difference signal between the two chambers of the loading hydraulic cylinder to the industrial control computer. The industrial control computer converts the detected pressure difference signal into a digital signal and inputs it to the compensation system controller. The compensation system controller controls the compensation system servo valve to drive the compensation hydraulic cylinder piston rod to move, compensating for factors such as installation errors and machining errors, ensuring strict synchronous movement between the loading hydraulic cylinder and the loading hydraulic cylinder piston rod, and eliminating redundant force. Simultaneously, the loading system controller controls the loading system servo valve to drive the piston rod of the loading hydraulic cylinder based on the loading signal given by the force function generator and the detection signal of the force sensor, thereby completing the loading of the servo system.

[0008] The beneficial effects of this invention are: the electro-hydraulic load simulator based on dynamic adjustment of synchronous position compensation proposed in this invention does not interfere with the loading performance of the load simulator system due to the active movement of the servo system. This load simulator does not have any redundant force and can achieve high-precision loading of the loading force. The control strategy does not need to consider the compensation problem of redundant force, thus reducing the complexity of the control strategy. It adopts an electro-hydraulic servo system and has high-precision, high-frequency response torque loading performance. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0010] Figure 1 This is a schematic diagram of the structure of the present invention.

[0011] In the diagram: 1-Steering servo hydraulic cylinder base, 11-Steering servo system hydraulic cylinder, 12-Steering servo system hydraulic cylinder piston rod, 121-Steering servo system displacement sensor, 122-Steering servo system servo amplifier, 123-Spring plate, 124-Load mass block, 13-Steering servo system controller, 14-Steering servo system servo valve, 2-Loading hydraulic cylinder base, 21-Loading hydraulic cylinder, 22-Loading hydraulic cylinder piston rod, 221-Force sensor, 222-Loading system servo amplifier, 23-Pressure sensor A, 24-Loading system servo valve, 25-Loading system controller, 26-Pressure sensor B, 3-Guide rail, 31-Slider, 4-Position signal generator, 5-Force function generator, 6-Compensated hydraulic cylinder base, 61-Compensated hydraulic cylinder, 62-Compensated hydraulic cylinder piston rod, 621-Compensated system displacement sensor, 622-Compensated system servo amplifier, 63-Compensated system controller, 64-Compensated system servo valve, 7-Industrial computer. Detailed Implementation

[0012] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0013] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0014] An electro-hydraulic load simulator based on a dynamically adjusted synchronous position compensation stage, as shown in the figure, includes a servo system, a loading system, and a motion synchronization compensation system. The servo system includes a servo hydraulic cylinder base 1, a servo system hydraulic cylinder 11, a servo system hydraulic cylinder piston rod 12, a servo system controller 13, a servo system servo valve 14, and a position signal generator 4. The servo hydraulic cylinder base 1 is fixedly connected to the ground. The servo system hydraulic cylinder 11 is fixedly connected to the servo hydraulic cylinder base 1. The servo system hydraulic cylinder piston rod 12 is slidably connected to the servo system hydraulic cylinder 11. The servo system hydraulic cylinder piston rod 12 is fixedly connected to a servo system displacement sensor 121. The output terminal of the servo system displacement sensor 121 is connected to a servo system servo amplifier 122. The input terminals are connected; the output terminal of the servo amplifier 122 of the servo system is connected to the input terminal of the servo system controller 13; the output terminal of the position signal generator 4 is connected to the input terminal of the servo system controller 13; the output terminal of the servo system controller 13 is connected to the input terminal of the servo valve 14 of the servo system; the output terminal of the servo valve 14 of the servo system is connected to the hydraulic cylinder 11 of the servo system; the piston rod 12 of the hydraulic cylinder of the servo system is fixedly connected to the spring plate 123, and the spring plate 123 is fixedly connected to the load mass block 124; the loading system includes a loading hydraulic cylinder base 2, a loading hydraulic cylinder piston rod 22, a force sensor 221, a loading system servo amplifier 222, a pressure sensor A23, a pressure sensor B26, a guide rail 3, and a force function generator 5; The guide rail 3 is fixedly connected to the base 1 of the servo hydraulic cylinder; the guide rail 3 and the slider 31 are slidably connected; the loading hydraulic cylinder base 2 and the slider 31 are fixedly connected; the loading hydraulic cylinder base 2 and the loading hydraulic cylinder 21 are fixedly connected; the loading hydraulic cylinder piston rod 22 and the loading hydraulic cylinder 21 are slidably connected; the input ends of pressure sensor A23 and pressure sensor B26 are connected to the two chambers of the loading hydraulic cylinder 21; the output ends of pressure sensor A23 and pressure sensor B26 are connected to the industrial control computer 7; the loading hydraulic cylinder piston rod 22 is fixedly connected to force sensor 221, and the output end of force sensor 221 is connected to the input end of the loading system servo amplifier 222; the output end of the loading system servo amplifier 222 is connected to the input end of the loading system controller 25. The force function generator 5 is connected to the output of the loading system controller 25; the output of the loading system controller 25 is connected to the input of the loading system servo valve 24; the output of the loading system servo valve 24 is connected to the loading hydraulic cylinder 21; the force sensor 221 is fixedly connected to the load mass block 124; the motion synchronization compensation system includes a compensation hydraulic cylinder base 6, a compensation hydraulic cylinder 61, a compensation hydraulic cylinder piston rod 62, a compensation system servo valve 64, and an industrial control computer 7; the compensation hydraulic cylinder base 6 is fixedly connected to the ground; the compensation hydraulic cylinder 61 is fixedly connected to the compensation hydraulic cylinder base 6; the compensation hydraulic cylinder piston rod 62 and the compensation hydraulic cylinder 61 are slidably connected; the compensation hydraulic cylinder piston rod 62 is fixedly connected to the loading hydraulic cylinder base 2.The piston rod 62 of the compensating hydraulic cylinder is fixedly connected to the displacement sensor 621 of the compensating system; the output terminal of the displacement sensor 621 is connected to the input terminal of the servo amplifier 622 of the compensating system; the output terminal of the servo amplifier 622 is connected to the industrial control computer 7; the industrial control computer 7 is connected to the input terminal of the controller 63 of the compensating system; the output terminal of the position signal generator 4 is connected to the input terminal of the controller 63 of the compensating system; the output terminal of the controller 63 of the compensating system is connected to the input terminal of the servo valve 64 of the compensating system; the output terminal of the servo valve 64 of the compensating system is connected to the compensating hydraulic cylinder 61.

[0015] Furthermore, the position signal generator 4 transmits position signal commands to the servo system controller 13 and the compensation system controller 63; the servo system displacement sensor 121 detects the position information of the servo system hydraulic cylinder piston rod 12, and the detection signal is amplified by the servo system servo amplifier 122 and input to the servo system controller 13; the compensation system displacement sensor 621 detects the position information of the compensation hydraulic cylinder piston rod 62, and the detection signal is input to the industrial computer 7 through the compensation system servo amplifier 622; the industrial computer 7 inputs the detection signal to the compensation system controller 63; the servo system controller 13 controls the servo system servo valve 14 according to the position signal and detection information; the compensation... The system controller 63 controls the compensation system servo valve 64 based on the position signal and detection information; the servo system servo valve 14 drives the servo system hydraulic cylinder piston rod 12 to move; the movement of the servo system hydraulic cylinder piston rod 12 will drive the spring plate 123, load mass block 124, force sensor 221 and loading hydraulic cylinder piston rod 22 fixed to it to move; the compensation system servo valve 64 drives the compensation hydraulic cylinder piston rod 62 to move; the movement of the compensation hydraulic cylinder piston rod 62 will drive the loading hydraulic cylinder base 2, slider 31 and loading hydraulic cylinder 21 fixed to it to move; the loading hydraulic cylinder 21 and the loading hydraulic cylinder piston rod 22 can maintain synchronous movement, and no forced flow will be generated inside, thus generating excess force.

[0016] Furthermore, pressure sensor A23 and pressure sensor B26 detect the pressure in the two chambers of the loading hydraulic cylinder 21 and transmit the detected pressure difference signal to the industrial control computer 7. The industrial control computer 7 converts the detected pressure difference signal into a digital signal and inputs it to the compensation system controller 63. The compensation system controller 63 drives the compensation system servo valve 64 to control the piston rod 62 of the compensation hydraulic cylinder according to the digital signal. The movement of the piston rod 62 of the compensation hydraulic cylinder will drive the loading hydraulic cylinder base 2, slider 31 and loading hydraulic cylinder 21 fixed to it to move, compensating for the influence of installation errors, machining errors and other factors to ensure strict synchronous movement of the loading hydraulic cylinder 21 and the loading hydraulic cylinder piston rod 22.

[0017] The working principle of this invention is as follows: The servo system controller 13 controls the servo system servo valve 14 based on the deviation between the position signal given by the position signal generator 4 and the position signal of the servo system hydraulic cylinder piston rod 12 detected by the servo system displacement sensor 121, thereby driving the servo system hydraulic cylinder piston rod 12 to move. The movement of the servo system hydraulic cylinder piston rod 12 drives the spring plate 123, the load mass block 124, the force sensor and the loading hydraulic cylinder piston rod 22, which are fixed to it, to move. Simultaneously, the compensation system controller 63 controls the compensation system servo valve 64 based on the deviation between the position signal given by the position signal generator 4 and the position signal of the compensation hydraulic cylinder piston rod 62 detected by the compensation system displacement sensor 621. This drives the compensation hydraulic cylinder piston rod 62 to move. The movement of the compensation hydraulic cylinder piston rod 62 causes the loading hydraulic cylinder base 2, loading hydraulic cylinder 21, and slider 31, which are fixed to it, to slide on the guide rail. Pressure sensors A23 and B26 transmit the pressure difference signal between the two chambers of the loading hydraulic cylinder 21 to the industrial control computer 7. The industrial control computer 7 converts the detected pressure difference signal into a digital signal and inputs it to the compensation system controller 63. The compensation system controller 63 controls the compensation system servo valve 64 to drive the compensation hydraulic cylinder piston rod 62 to move, compensating for factors such as installation errors and machining errors, and ensuring strict synchronous movement between the loading hydraulic cylinder 21 and the loading hydraulic cylinder piston rod 22. At the same time, the loading system controller 25 controls the loading system servo valve 24 to drive the loading hydraulic cylinder piston rod 22 based on the loading signal given by the force function generator 5 and the detection signal of the force sensor 221, completing the loading of the servo system.

[0018] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. Electro-hydraulic load simulator based on dynamic adjustment of the synchronization position compensation link, characterized in that: The application relates to a rudder system, a loading system and a motion synchronization compensation system, and comprises a rudder hydraulic cylinder base (1), a rudder system hydraulic cylinder (11), a rudder system hydraulic cylinder piston rod (12), a rudder system controller (13), a rudder system servo valve (14) and a position signal generator (4); the rudder hydraulic cylinder base (1) is fixedly connected with the ground; the rudder system hydraulic cylinder (11) is fixedly connected with the rudder hydraulic cylinder base (1); the rudder system hydraulic cylinder piston rod (12) is slidably connected with the rudder system hydraulic cylinder (11); the rudder system hydraulic cylinder piston rod (12) is fixedly connected with a rudder system displacement sensor (121); the output end of the rudder system displacement sensor (121) is connected with the input end of a rudder system servo amplifier (122); the output end of the rudder system servo amplifier (122) is connected with the input end of the rudder system controller (13); the output end of the position signal generator (4) is connected with the input end of the rudder system controller (13); the output end of the rudder system controller (13) is connected with the input end of the rudder system servo valve (14); the output end of the rudder system servo valve (14) is connected with the rudder system hydraulic cylinder (11); the rudder system hydraulic cylinder piston rod (12) is fixedly connected with a spring plate (123), and the spring plate (123) is fixedly connected with a load mass block (124); the loading system comprises a loading hydraulic cylinder base (2), a loading hydraulic cylinder piston rod (22), a force sensor (221), a loading system servo amplifier (222), a pressure sensor A (23), a pressure sensor B (26), a guide rail (3) and a force function generator (5); the guide rail (3) is fixedly connected with the rudder hydraulic cylinder base (1); the guide rail (3) is slidably connected with a sliding block (31); the loading hydraulic cylinder base (2) is fixedly connected with the sliding block (31); the loading hydraulic cylinder base (2) is fixedly connected with a loading hydraulic cylinder (21); the loading hydraulic cylinder piston rod (22) is slidably connected with the loading hydraulic cylinder (21); the input ends of the pressure sensor A (23) and the pressure sensor B (26) are connected with two cavities of the loading hydraulic cylinder (21); the output ends of the pressure sensor A (23) and the pressure sensor B (26) are connected with an industrial computer (7); the loading hydraulic cylinder piston rod (22) is fixedly connected with the force sensor (221), and the output end of the force sensor (221) is connected with the input end of the loading system servo amplifier (222); the output end of the loading system servo amplifier (222) is connected with the input end of a loading system controller (25); the output end of the force function generator (5) is connected with the input end of the loading system controller (25); the output end of the loading system controller (25) is connected with the input end of a loading system servo valve (24); the output end of the loading system servo valve (24) is connected with the loading hydraulic cylinder (21); the force sensor (221) is fixedly connected with the load mass block (124).The motion synchronous compensation system comprises a compensation hydraulic cylinder base (6), a compensation hydraulic cylinder (61), a compensation hydraulic cylinder piston rod (62), a compensation system servo valve (64), and an industrial computer (7); the compensation hydraulic cylinder base (6) is fixedly connected with the ground; the compensation hydraulic cylinder (61) is fixedly connected with the compensation hydraulic cylinder base (6); the compensation hydraulic cylinder piston rod (62) is in sliding connection with the compensation hydraulic cylinder (61); the compensation hydraulic cylinder piston rod (62) is fixedly connected with the loading hydraulic cylinder base (2); the compensation hydraulic cylinder piston rod (62) is fixedly connected with a compensation system displacement sensor (621); the output end of the compensation system displacement sensor (621) is connected with the input end of a compensation system servo amplifier (622); the output end of the compensation system servo amplifier (622) is connected with the industrial computer (7); the industrial computer (7) is connected with the input end of a compensation system controller (63); the output end of the position signal generator (4) is connected with the input end of the compensation system controller (63); the output end of the compensation system controller (63) is connected with the input end of the compensation system servo valve (64); and the output end of the compensation system servo valve (64) is connected with the compensation hydraulic cylinder (61).

2. The electro-hydraulic load simulator based on dynamically adjusted synchronization position compensation link of claim 1, wherein: The position signal generator (4) transmits position signal instructions to the steering system controller (13) and the compensation system controller (63); the steering system displacement sensor (121) detects the position information of the steering system hydraulic cylinder piston rod (12), and the detection signal is amplified by the steering system servo amplifier (122) and input to the steering system controller (13); the compensation system displacement sensor (621) detects the position information of the compensation hydraulic cylinder piston rod (62), and the detection signal is input to the industrial computer (7) through the compensation system servo amplifier (622); the industrial computer (7) inputs the detection signal to the compensation system controller (63); the steering system controller (13) controls the steering system servo valve (14) according to the position signal and the detection information; the compensation system controller (63) controls the compensation system servo valve (64) according to the position signal and the detection information; the steering system servo valve (14) drives the steering system hydraulic cylinder piston rod (12) to move; the steering system hydraulic cylinder piston rod (12) moves with the spring plate (123), the load mass block (124), the force sensor (221) and the loading hydraulic cylinder piston rod (22) fixedly connected thereto; the compensation system servo valve (64) drives the compensation hydraulic cylinder piston rod (62) to move; the compensation hydraulic cylinder piston rod (62) moves with the loading hydraulic cylinder base (2), the sliding block (31) and the loading hydraulic cylinder (21) fixedly connected thereto; the loading hydraulic cylinder (21) and the loading hydraulic cylinder piston rod (22) can keep synchronous movement, and no forced flow is generated in the loading hydraulic cylinder (21) to generate excess force.

3. The electro-hydraulic load simulator based on dynamically adjusted synchronization position compensation link of claim 1, wherein: The pressure sensor A (23) and the pressure sensor B (26) detect the pressure of the two cavities of the loading hydraulic cylinder (21), and transmit the detection pressure difference signal to the industrial computer (7); the industrial computer (7) converts the detection pressure difference signal into a digital signal and inputs it to the compensation system controller (63); the compensation system controller (63) drives the compensation system servo valve (64) to control the compensation hydraulic cylinder piston rod (62) according to the digital signal; the compensation hydraulic cylinder piston rod (62) moves with the loading hydraulic cylinder base (2), the sliding block (31) and the loading hydraulic cylinder (21) fixedly connected thereto, and compensates for the influence of installation error and machining error factors to ensure the strict synchronous movement of the loading hydraulic cylinder (21) and the loading hydraulic cylinder piston rod (22).

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