Novel heavy-load redundant drive simulator and control method thereof

Abstract

The invention provides a novel heavy-load redundant drive simulator and a control method thereof. The simulator comprises a base, six drive branch chains, four sliding rail stand columns, four balance branch chains, a bearing platform and a control system. The base is fixedly connected with the ground, the six driving branch chains are connected with the base through universal hinges and connected with the bearing platform in parallel through spherical hinges, each sliding rail stand column with a sliding block is fixedly connected with the ground, one end of each balance branch chain is connected with the sliding block through a universal hinge, and the other end of each balance branch chain is connected with the bearing platform in parallel through a spherical hinge. According to the control system, a redundant drive control method based on distributed force perception is adopted, the drive branch chains are controlled to carry out position control, the bearing capacity of the platform is inversely calculated, and then the balance branch chains are controlled to carry out force following control. The method has the advantages of high simulation precision, high bearing capacity and large working space, and the control algorithm is simple, easy to implement and good in control stability.

Description

Technical Field

[0001] The invention belongs to the technical field of aerospace and ships, and in particular relates to a novel heavy-load redundant drive simulator and a control method thereof. Background Art

[0002] Heavy-load simulators are widely used in aerospace, shipbuilding and other fields. They provide a motion simulation test platform for the research and development of heavy aerospace and marine equipment. They have the requirements of large load capacity, large motion range and high response bandwidth, and are the most challenging type of parallel mechanism equipment.

[0003] The patent document with the announcement number CN110588882B discloses a heavy-load roll simulation platform test device, which adopts a structure in which the bottom end is fixed and the upper end is rotatable. The platform has a strong carrying capacity, but the platform has limited freedom of movement and only supports roll motion simulation.

[0004] The patent document with the announcement number CN107123355B discloses a six-degree-of-freedom double-parallel heavy-duty swing platform with a load balancing device. The three load balancing devices increase the support points of the bearing platform, which can reduce the driving load of the driving branch and improve the bearing capacity of the swing platform. However, the support point of the load balancing device is located on the inner side of the driving branch, and the balance unloading capacity is weak at extreme angles and positions, and the supporting area of ​​the bearing platform is limited.

[0005] In summary, the existing heavy-load simulator technology has the following shortcomings: the load-bearing capacity and range of motion are limited. With the development of modern heavy equipment, traditional heavy-load simulators are difficult to meet the needs of higher loads, larger spatial motion, higher simulation accuracy and easy protection; the balance unloading mechanism configuration has defects, and the existing simulators with unloading devices cannot meet the needs of a larger load-bearing platform area, and the balance unloading capacity in extreme postures is weak; the balance unloading control algorithm is complex, and the balance unloading mechanism configuration of the existing heavy-load simulator is relatively complex, which makes the balance unloading control algorithm difficult to implement.

[0006] Therefore, it is necessary to propose a new technical solution to improve the above technical problems. Summary of the invention

[0007] In order to solve the above technical problems, the present invention provides a new heavy-load redundant drive simulator and its control method, which adopts a redundant drive control method based on distributed force perception to control the drive branch chain for position control, and inversely calculate the platform bearing capacity, and then control the balance branch chain for force following control.

[0008] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0009] A new type of heavy-duty redundant drive simulator, comprising: a base, six drive branches, four slide rail columns, four balance branches, a bearing platform and a control system;

[0010] The base is fixedly connected to the ground;

[0011] The lower end of each of the driving branch chains is connected to the base through a driving branch chain universal hinge, and the upper end is connected to the load-bearing platform through a driving branch chain ball hinge, and two adjacent driving branch chain universal hinges form a group, and multiple groups of driving branch chain universal hinges are evenly arranged on the upper surface of the base, and two adjacent driving branch chain ball hinges with different combinations of driving branch chain universal hinges form a group, and multiple groups of driving branch chain ball hinges are evenly arranged on the lower surface of the load-bearing platform;

[0012] The four slide rail columns are evenly arranged at the four vertices of a rectangle formed by the ground and are located outside the base, and each slide rail column is provided with a slider;

[0013] One end of each of the balancing branches is connected to the corresponding slider via a balancing branch chain universal joint, and the other end is connected in parallel to the bearing platform via a balancing branch chain ball joint;

[0014] The driving branch chain is equipped with a first force sensor and a displacement sensor for real-time detection of the telescopic state and stress condition of the driving branch chain;

[0015] The balancing branch chain is equipped with a second force sensor for real-time detection of the force condition of the balancing branch chain;

[0016] The control system is based on a redundant drive control method with distributed force perception, which collects the force conditions of the drive branch chain and the balance branch chain, as well as the telescopic state of the drive branch chain in real time, controls the drive branch chain to perform position control, and reversely calculates the platform bearing capacity, controls the balance branch chain to perform force following control, and balances the load on the bearing platform. Unload.

[0017] Preferably, the driving branch chain comprises a telescopic rod and a first driving cylinder which are connected to each other, a first force sensor is installed inside the cylinder body of the first driving cylinder, and a displacement sensor is installed at the connection between the telescopic rod and the cylinder body of the first driving cylinder.

[0018] Preferably, a guide rail is provided between the slide rail column and the slide block.

[0019] Preferably, the linear displacement driver of the balancing branch chain is located inside the slide rail column, and the linear displacement driver includes a second drive cylinder telescopic rod and a second drive cylinder body that are connected to each other, the second drive cylinder telescopic rod is connected to the lower end surface of the slider, the lower part of the second drive cylinder body is fixedly connected to the ground, and a second force sensor is installed inside the second drive cylinder body; the lower end of the rigid connecting rod of the balancing branch chain is connected to the slider, and the upper end is connected to the bearing platform through a balancing branch chain ball joint.

[0020] Preferably, the control system further comprises a data acquisition system and a servo drive system, wherein the data acquisition system collects current, joint angles, and drive displacement variables, and the servo drive system negatively drives the movement of the simulator.

[0021] Preferably, the base is connected to the ground by high-strength bolt connection or welding connection.

[0022] On the other hand, the present invention also provides a control method for a novel heavy-load redundant drive simulator, the method using the novel heavy-load redundant drive simulator described above, the method comprising the following steps:

[0023] Data collection: The displacement and force of the driving branch are collected in real time through the displacement sensor and the first force sensor of the driving branch, and the force of the balancing branch is collected in real time through the second force sensor of the balancing branch;

[0024] Kinematics solution: Based on the collected displacement data of the drive branches, the position feedback control method is used to calculate and control the six drive branches to reach the target position, and the carrier platform to reach the target position and posture;

[0025] Dynamics solution: Based on the collected force data of the driving branch chain and the balancing branch chain, a redundant drive control method based on distributed force perception is used to reversely calculate the bearing capacity of the bearing platform;

[0026] Balanced unloading control: According to the load-bearing capacity of the load-bearing platform, the target force and torque that the balance branch chain needs to provide are calculated, and the balance branch chain is controlled to achieve force following control, thereby unloading the load of the load-bearing platform and the inertial force and torque generated during the movement;

[0027] Loop control: Repeat the above steps until the load-bearing platform and the load achieve continuous and stable simulated motion, and ensure that the motion process always meets the load-bearing capacity and motion range requirements of the simulator.

[0028] Preferably, in the kinematic solution step, the position feedback control method adopts closed-loop control, and adjusts the extension and retraction amount of the drive branch chain by comparing the difference between the target position and the actual position to perform position control.

[0029] Preferably, in the dynamics solving step, the redundant drive control method of distributed force sensing satisfies the equation:

[0030]

[0031] in, is the bearing capacity of the bearing platform in three directions, is the load moment of the load-bearing platform in three directions, is the force Jacobian matrix of the six driven branches, is the force of the six drive branches; the force Jacobian matrix is ​​calculated based on the drive displacement measured by the force sensors of the six drive branches , and then the driving branch chain force measured by the six driving branch chain force sensors is , the bearing capacity of the bearing platform can be calculated and load moment , thereby providing a basis for the force following control of the balancing branch chain.

[0032] Preferably, in the balanced unloading control step, the force following control method adopts closed-loop control, and by comparing the difference between the target force and torque and the force and torque actually provided by the balanced branch chain, the expansion and contraction amount of the balanced branch chain is adjusted to perform balanced unloading.

[0033] The present invention has the following beneficial effects:

[0034] 1. The present invention adopts a redundant drive technical solution. The drive branch chain can ensure the accuracy of motion simulation, and the balance branch chain can balance and unload the force and torque generated during the movement of the load equipment to a certain extent, thereby improving the load-bearing capacity, motion range and stiffness of the mechanism;

[0035] 2. The present invention adopts the technical solution of distributing the balancing branch chain on the outside of the driving branch chain, which can effectively increase the bearing area of ​​the bearing platform and enhance the balanced unloading ability of the platform in extreme positions;

[0036] 3. The present invention adopts a force-position hybrid control method based on distributed force perception, which can conveniently control the effective balanced unloading of loads in various postures. The algorithm is simple and easy to implement, and the control stability is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A three-dimensional diagram of a novel heavy-duty redundant drive simulator of the present invention;

[0038] Figure 2 A top view of a hidden carrying platform of a novel heavy-load redundant drive simulator of the present invention;

[0039] Figure 3 It is a structural schematic diagram of the drive branch chain of the present invention;

[0040] Figure 4 It is a schematic diagram of the structure of the balanced branch chain of the present invention;

[0041] Figure 5 It is the principle diagram of the simulator control algorithm of the present invention.

[0042] Reference numerals:

[0043] 1. Load-bearing platform, 2. Drive branch chain, 3. Balance branch chain, 4. Slide rail column, 5. Base, 2-1. Drive branch chain ball joint, 2-2. Telescopic rod of the first drive cylinder, 2-3. Displacement sensor, 2-4. Cylinder body of the first drive cylinder, 2-5. First force sensor, 2-6. Drive branch chain universal joint, 3-1. Balance branch chain ball joint, 3-2. Rigid connecting rod, 3-3. Balance branch chain universal joint, 3-4. Slider, 3-5. Guide rail, 3-6. Telescopic rod of the second drive cylinder, 3-7. Cylinder body of the second drive cylinder, 3-8. Second force sensor. DETAILED DESCRIPTION

[0044] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0045] Reference Figure 1 and Figure 2According to a new type of heavy-load redundant drive simulator provided by the present invention, it includes: a base, six drive branches, four slide rail columns, four balance branches, a load-bearing platform and a control system; the base is fixedly connected to the ground; the lower ends of the six drive branches are connected to the base through drive branch chain universal joints, and the upper ends are connected in parallel with the load-bearing platform through drive branch chain ball joints, and the adjacent two drive branch chain universal joints of the drive branch chains are a group, arranged in parallel and close to each other, and the three groups of drive branch chain universal joints are evenly arranged on the base, and the adjacent two drive branch chain ball joints with different combinations of drive branch chain universal joints on the base are a group, arranged in parallel and close to each other, and the three groups of drive branch chain ball joints are evenly arranged under the load-bearing platform; the four slide rail columns are evenly arranged at the four vertices of the rectangle formed by the ground, and are located on the outside of the base, and each slide rail column is provided with a slider, which can slide on the slide rail column; one end of each balance chain is connected to the balance support The chain universal joint is connected to the corresponding slider, and the other end is connected in parallel with the bearing platform through the balancing branch chain ball joint, and each balancing branch chain is a rigid connecting rod, and the lower end of the connecting rod is connected to the slider; the main body of the driving branch chain is a telescopic rod, and a first force sensor is installed inside the telescopic rod, and a displacement sensor is installed on the telescopic rod, which is used to detect the telescopic state and force condition of the driving branch chain in real time; the lower end surface of the slider of the balancing branch chain is connected to the upper part of the linear displacement driver, and the lower part of the driver is fixedly connected to the ground, and a second force sensor is installed inside the driver, which is used to detect the force condition of the balancing branch chain in real time; the control system is based on a redundant drive control method of distributed force perception, and controls the driving branch chain to perform position control by real-time acquisition of the force conditions of the driving branch chain and the balancing branch chain, as well as the displacement conditions of the driving branch chain, and reversely calculates the platform bearing capacity, and then controls the balancing branch chain to perform force following control, and balances the load on the bearing platform. Unload.

[0046] The telescopic rod of the driving branch chain is a hydraulic drive cylinder or an electric cylinder, a first force sensor is installed inside the lower cylinder body, and a displacement sensor is installed at the connection between the telescopic rod and the cylinder body; a guide rail is arranged between the slide rail column and the slider; the linear displacement driver of the balancing branch chain is located inside the slide rail column, and its telescopic rod is connected to the lower end surface of the slider, the lower part of the cylinder body is fixedly connected to the ground, and a second force sensor is installed inside the cylinder body; the rigid connecting rod of the balancing branch chain is made of high-strength material; the control system also includes a data acquisition system and a servo drive system, the data acquisition system collects current, joint angle, and drive displacement variables, and the servo drive system negatively drives the movement of the simulator; the connection between the base and the ground adopts high-strength bolt connection or welding connection.

[0047] The present invention also provides a control method for a novel heavy-load redundant drive simulator, the method using the novel heavy-load redundant drive simulator described above, the method comprising the following steps:

[0048] Data collection steps: real-time collection of displacement and force conditions of the driving branch chain by means of a displacement sensor and a first force sensor of the driving branch chain, and real-time collection of force conditions of the balancing branch chain by means of a second force sensor of the balancing branch chain;

[0049] Kinematic solution steps: Based on the collected displacement data of the drive branch chain, the position feedback control method is used to calculate and control the six drive branches to reach the target position, and the carrying platform can reach the target position and posture; the position feedback control method adopts closed-loop control, and by comparing the difference between the target position and the actual position, the extension and retraction of the drive branch chain is adjusted to perform position control.

[0050] Dynamic solution steps: According to the collected force data of the driving branch chain and the balancing branch chain, the redundant driving control method based on distributed force perception is used to inversely calculate the bearing capacity of the bearing platform; the redundant driving control method based on distributed force perception satisfies the equation:

[0051]

[0052] in, is the bearing capacity of the bearing platform in three directions, is the load moment of the load-bearing platform in three directions, is the force Jacobian matrix of the six driven branches, is the force of the six drive branches; the force Jacobian matrix is ​​calculated based on the drive displacement measured by the force sensors of the six drive branches , and then the driving branch chain force measured by the six driving branch chain force sensors is , the bearing capacity of the bearing platform can be calculated and load moment , thereby providing a basis for the force following control of the balancing branch chain.

[0053] Balanced unloading control steps: According to the bearing capacity of the load-bearing platform, the target force and torque that the balancing branch chain needs to provide are calculated, and the balancing branch chain is controlled to achieve force following control, so as to unload the load of the load-bearing platform and the inertial force and torque generated during the movement, thereby reducing the load on the driving branch chain; the force following control method adopts closed-loop control, and by comparing the difference between the target force and torque and the actual force and torque provided by the balancing branch chain, the expansion and contraction amount of the balancing branch chain is adjusted to perform balanced unloading.

[0054] Loop control steps: Repeat the above steps until the load-bearing platform and the load achieve continuous and stable simulated motion, and ensure that the motion process always meets the load-bearing capacity and motion range requirements of the simulator.

[0055] Example

[0056] like Figure 1 , Figure 2 , Figure 3 As shown, a new type of heavy-load redundant drive simulator of an embodiment of the present invention includes a bearing platform 1, six driving branch chains 2, four balancing branch chains 3, four slide rail columns 4, and a base 5 fixed to the ground; each driving branch chain 2 is connected to the base 5 through a driving branch chain universal hinge 2-6, and is connected in parallel with the bearing platform 1 through a driving branch chain ball hinge 2-1, each slide rail column 4 with a slider 3-4 is fixedly connected to the ground, two adjacent driving branch chain universal hinges 2-6 are a group, arranged in parallel and close to each other, and the three groups of driving branch chain universal hinges 2-6 are evenly arranged at an angle of 120 degrees; two adjacent driving branch chain ball hinges 2-1 with different combinations from the driving branch chain universal hinges 2-6 on the base are a group, arranged in parallel and close to each other, and the three groups of driving branch chain ball hinges 2-1 are evenly arranged at an angle of 120 degrees.

[0057] One end of each balancing branch chain 3 is connected to the slider 3 - 4 via a balancing branch chain universal joint 3 - 3 , and the other end is connected in parallel to the bearing platform 1 via a balancing branch chain ball joint 3 - 1 .

[0058] like Figure 3 As shown, the main body of the driving branch chain 2 is a hydraulic driving cylinder or an electric cylinder, the upper part is the first driving cylinder telescopic rod 2-2, which is connected to the bearing platform 1 through the driving branch chain ball joint 2-1, and the lower part is the first driving cylinder body 2-4, which is connected to the base 5 through the driving branch chain universal joint 2-6. The first force sensor 2-5 is installed inside the first driving cylinder body 2-4, and the displacement sensor 2-3 is installed at the connection between the first driving cylinder telescopic rod 2-2 and the first driving cylinder body 2-4.

[0059] like Figure 4 As shown, the balancing branch chain 3 is a rigid connecting rod 3-2, the upper end of the rigid connecting rod 3-2 is connected to the bearing platform 1 through the balancing branch chain ball joint 3-1, and the lower end of the rigid connecting rod 3-2 is connected to the slider 3-4; the guide rail 3-5 is fixedly connected to the slide rail column 4, and the slider 3-4 is engaged with the guide rail 3-5 and moves up and down along the guide rail 3-5; a balancing drive cylinder is arranged under the slider 3-4, the upper part of the balancing drive cylinder is a second drive cylinder telescopic rod 3-6 connected to the slider 3-4, and the lower part is a second drive cylinder body 3-7 fixedly connected to the ground, and a second force sensor 3-8 is installed inside the second drive cylinder body 3-7.

[0060] like Figure 5 As shown, the control system of the simulator is mainly composed of three parts: the first is the main control system, which is responsible for parsing user instructions, algorithm operation, issuing motion control instructions, etc.; the second is the data acquisition system, which is responsible for collecting variables such as current, joint angle, and drive displacement; the third is the servo drive system, which is responsible for driving the swing simulation platform to achieve high-precision and high-performance motion.

[0061] Among them, motion control calculation is the key core technology, which adopts a redundant drive control method based on distributed force perception and is divided into two parts: drive control and balanced unloading control.

[0062] The drive control is responsible for the real-time kinematics solution of the simulator drive chain, and adopts the position feedback control method to control the six drive chains to reach the target position, ensuring that the carrier platform can accurately reach the target position and posture, so that the carrier platform can move accurately according to the target trajectory.

[0063] The balanced unloading control is responsible for the real-time dynamics solution of the simulator system. It adopts the force following control method, and inversely calculates the platform's bearing capacity from the real-time forces of the six driving branches. It controls the four balanced unloading branches to provide the target force and torque for the bearing platform in real time, unloads the load of the bearing platform and the inertial force and torque generated during the movement, and reduces the load on the driving branches. This can greatly improve the platform's bearing capacity and range of motion while ensuring the simulator's motion accuracy.

[0064] A new heavy-load redundant drive simulator according to an embodiment of the present invention can be used for land simulation tests of the movement of offshore equipment under different sea conditions; the equipment is fixed on the simulator carrier platform, and the simulator is run to realize the motion simulation of the equipment in six degrees of freedom, namely roll, sway, pitch, swing, bow pitch and heave.

[0065] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0066] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A new type of heavy-load redundant drive simulator, characterized in that: include: Base, six drive branches, four slide rail columns, four balance branches, load-bearing platform and control system; The base is fixedly connected to the ground; The lower end of each of the driving branch chains is connected to the base through a driving branch chain universal hinge, and the upper end is connected to the load-bearing platform through a driving branch chain ball hinge, and two adjacent driving branch chain universal hinges form a group, and multiple groups of driving branch chain universal hinges are evenly arranged on the upper surface of the base, and two adjacent driving branch chain ball hinges with different combinations of driving branch chain universal hinges form a group, and multiple groups of driving branch chain ball hinges are evenly arranged on the lower surface of the load-bearing platform; The four slide rail columns are evenly arranged at the four vertices of a rectangle formed by the ground and are located outside the base, and each slide rail column is provided with a slider; One end of each of the balancing branches is connected to the corresponding slider via a balancing branch chain universal joint, and the other end is connected in parallel to the bearing platform via a balancing branch chain ball joint; The driving branch chain is equipped with a first force sensor and a displacement sensor for real-time detection of the telescopic state and stress condition of the driving branch chain; The balancing branch chain is equipped with a second force sensor for real-time detection of the force condition of the balancing branch chain; The control system is based on a redundant drive control method with distributed force perception, which collects the force conditions of the drive branch chain and the balance branch chain, as well as the telescopic state of the drive branch chain in real time, controls the drive branch chain to perform position control, and reversely calculates the platform bearing capacity, controls the balance branch chain to perform force following control, and balances the load on the bearing platform. Unload.

2. A new type of heavy-load redundant drive simulator according to claim 1, characterized in that: The driving branch chain comprises a telescopic rod and a first driving cylinder which are connected to each other. A first force sensor is installed inside the cylinder body of the first driving cylinder, and a displacement sensor is installed at the connection between the telescopic rod and the cylinder body of the first driving cylinder.

3. A new type of heavy-load redundant drive simulator according to claim 1, characterized in that: A guide rail is arranged between the slide rail column and the slide block.

4. A new type of heavy-duty redundant drive simulator according to claim 1, characterized in that: The linear displacement driver of the balancing branch chain is located inside the slide rail column, and the linear displacement driver includes a second driving cylinder telescopic rod and a second driving cylinder body that are interconnected, the second driving cylinder telescopic rod is connected to the lower end surface of the slider, the lower part of the second driving cylinder body is fixedly connected to the ground, and a second force sensor is installed inside the second driving cylinder body; the lower end of the rigid connecting rod of the balancing branch chain is connected to the slider, and the upper end is connected to the bearing platform through a balancing branch chain ball joint.

5. A new type of heavy-load redundant drive simulator according to claim 1, characterized in that: The control system includes a data acquisition system and a servo drive system. The data acquisition system collects current, joint angles, and drive displacement variables. The servo drive system negatively drives the movement of the simulator.

6. A new type of heavy-load redundant drive simulator according to claim 1, characterized in that: The connection between the base and the ground is achieved by high-strength bolt connection or welding connection.

7. A novel control method for a heavy-duty redundant drive simulator, characterized in that: The method uses the novel heavy-duty redundant drive simulator as described in any one of claims 1 to 6, and the method comprises the following steps: Data collection: The displacement and force of the driving branch are collected in real time through the displacement sensor and the first force sensor of the driving branch, and the force of the balancing branch is collected in real time through the second force sensor of the balancing branch; Kinematics solution: Based on the collected displacement data of the drive branches, the position feedback control method is used to calculate and control the six drive branches to reach the target position, and the carrier platform to reach the target position and posture; Dynamics solution: Based on the collected force data of the driving branch chain and the balancing branch chain, a redundant drive control method based on distributed force perception is used to reversely calculate the bearing capacity of the bearing platform; Balanced unloading control: According to the load-bearing capacity of the load-bearing platform, the target force and torque that the balance branch chain needs to provide are calculated, and the balance branch chain is controlled to achieve force following control, thereby unloading the load of the load-bearing platform and the inertial force and torque generated during the movement; Loop control: Repeat the above steps until the load-bearing platform and the load achieve continuous and stable simulated motion, and ensure that the motion process always meets the load-bearing capacity and motion range requirements of the simulator.

8. The control method of the new heavy-load redundant drive simulator according to claim 7 is characterized in that: In the kinematic solution step, the position feedback control method adopts closed-loop control, and adjusts the extension and contraction amount of the drive branch chain by comparing the difference between the target position and the actual position to perform position control.

9. The control method of the new heavy-load redundant drive simulator according to claim 7 is characterized in that: In the dynamics solution step, the redundant drive control method of distributed force perception satisfies the equation: ， in, is the bearing capacity of the bearing platform in three directions, is the load moment of the load-bearing platform in three directions, is the force Jacobian matrix of the six driven branches, is the force of the six drive branches; the force Jacobian matrix is ​​calculated based on the drive displacement measured by the force sensors of the six drive branches , and then the driving branch chain force measured by the six driving branch chain force sensors is , the bearing capacity of the bearing platform can be calculated and load moment , thereby providing a basis for the force following control of the balancing branch chain.

10. The control method of the new heavy-load redundant drive simulator according to claim 7 is characterized in that: In the balanced unloading control step, the force following control method adopts closed-loop control, and adjusts the expansion and contraction amount of the balanced branch chain to perform balanced unloading by comparing the difference between the target force and torque and the force and torque actually provided by the balanced branch chain.

Images