Heavy-load redundant drive simulator and control method thereof

Abstract

The present invention provides a heavy-duty redundant drive simulator and a control method thereof, wherein the simulator comprises 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 six drive branches are connected to the base via universal joints, the six drive branches are connected in parallel to the load-bearing platform via ball joints, each slide rail column with a slider is fixedly connected to the ground, one end of each balance branch is connected to the slider via a universal joint, and the other end is connected in parallel to the load-bearing platform via a ball joint; the control system adopts a redundant drive control method based on distributed force sensing, controls the drive branches for position control, and reversely calculates the platform load-bearing capacity, thereby controlling the balance branches for force following control. The present invention has the advantages of high simulation accuracy, strong load-bearing capacity, and large working space, and the control algorithm is simple and easy to implement, and the control stability is good.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerospace and ships, and in particular relates to a 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, providing a motion simulation test platform for the research and development of heavy aerospace and marine equipment. They have requirements for large load capacity, large motion range and high response bandwidth, and are the most challenging type of parallel mechanism equipment.

[0003] Patent publication CN110588882B discloses a heavy-load roll simulation platform test device. The test device features a fixed bottom and a rotatable top. While the platform has a strong load-bearing capacity, its freedom of movement is limited, supporting only roll simulation.

[0004] Patent publication CN107123355B discloses a six-degree-of-freedom, dual-parallel, heavy-duty rocking platform with a load-balancing device. The three load-balancing devices increase the support points of the load-bearing platform, reducing the driving load on the drive branches and increasing the rocking platform's load-bearing capacity. However, the load-balancing device's support points are located inboard of the drive branches, resulting in weak unloading capacity at extreme angles and positions, and a limited support area for the load-bearing platform.

[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. The existing simulators with unloading devices cannot meet the needs of a larger load-bearing platform area, and the balance unloading ability in extreme postures is weak; the balance unloading control algorithm is complex. 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 heavy-load redundant drive simulator and a control method thereof, which adopts a redundant drive control method based on distributed force perception to control the drive branch for position control, and inversely calculate the platform bearing capacity, and then control the balance branch for force following control.

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

[0009] A heavy-load redundant drive simulator comprises: a base, six drive branches, four slide rail columns, four balancing branches, a carrying platform and a control system;

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

[0011] The lower end of each of the drive branch chains is connected to the base through a drive branch chain universal hinge, and the upper end is connected to the load-bearing platform through a drive branch chain ball hinge, and two adjacent drive branch chain universal hinges form a group, and multiple groups of drive branch chain universal hinges are evenly arranged on the upper surface of the base, and two adjacent drive branch chain ball hinges with different drive branch chain universal hinge combinations form a group, and multiple groups of drive 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 on the ground and are located outside the base. Each slide rail column is provided with a slider;

[0013] One end of each balancing branch chain 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 drive branch chain is equipped with a first force sensor and a displacement sensor for real-time detection of the extension and contraction state and stress condition of the drive branch chain;

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

[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 and the balance branch, as well as the telescopic state of the drive branch in real time, controls the position of the drive branch, and reversely calculates the platform bearing capacity, controls the balance branch to perform force following control, and balances the load on the bearing platform. Unload.

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

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

[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 interconnected, 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 angle, and drive displacement variables, and the servo drive system negatively drives the movement of the simulator.

[0021] Preferably, the base and the ground are connected by high-strength bolts or welding.

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

[0023] Data collection: The displacement and force conditions 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 conditions of the balancing branch are 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 drive branch and the balance branch, a redundant drive control method based on distributed force sensing is used to reversely calculate the bearing capacity of the load-bearing platform;

[0026] Balanced unloading control: Based on the load-bearing capacity of the load-bearing platform, the target force and torque that the balance chain needs to provide are calculated, and the balance 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 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 contraction 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 solution step, the redundant drive control method of distributed force perception 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, The force Jacobian matrix is ​​calculated based on the driving displacement measured by the force sensors of the six driving 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 bearing 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 balancing branch chain, the expansion and contraction amount of the balancing 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 technology solution. The drive branch chain can ensure the accuracy of motion simulation, and the balance branch chain can balance and unload the forces and moments generated during the movement of the load equipment to a certain extent, thereby improving the load-bearing capacity, range of motion, and rigidity of the mechanism.

[0035] 2. The present invention adopts a technical solution in which the balancing branches are distributed outside the driving branches, which can effectively increase the load-bearing area of ​​the load-bearing platform and enhance the platform's balanced unloading ability 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 heavy-duty redundant drive simulator according to the present invention;

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

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

[0040] Figure 4 Schematic diagram of the structure of the balanced branch chain of the present invention;

[0041] Figure 5 This is a schematic 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. Universal joint of the balance branch chain, 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 will be described in detail below with reference to specific embodiments. The following examples 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 skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0045] Reference Figure 1 and Figure 2, according to the present invention, a heavy-load redundant drive simulator is provided, comprising: a base, six drive branches, four slide rail columns, four balancing 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 hinges, and the upper ends are connected in parallel with the load-bearing platform through drive branch chain ball hinges, and the adjacent two drive branch chain universal hinges of the drive branches form a group, which are arranged in parallel and close to each other, and the three groups of drive branch chain universal hinges are evenly arranged on the base, and the adjacent two drive branch chain ball hinges with different combinations of drive branch chain universal hinges on the base form a group, which are arranged in parallel and close to each other, and the three groups of drive branch chain ball hinges 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 of the balancing branches is connected by a balancing branch The 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 for real-time detection of the telescopic state and force condition of the driving branch chain; 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 for real-time detection of the force condition of the balancing branch chain; the control system is based on a redundant drive control method of distributed force perception, and controls the driving branch chain for position control by real-time acquisition of the force condition of the driving branch chain and the balancing branch chain, as well as the displacement condition of the driving branch chain, and reversely calculates the platform bearing capacity, and then controls the balancing branch chain for force following control to balance the load unloading on the bearing platform.

[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 face 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 heavy-duty redundant drive simulator, which uses the heavy-duty redundant drive simulator described above and comprises the following steps:

[0048] Data collection steps: using the displacement sensor and the first force sensor of the driving branch to collect the displacement and force of the driving branch in real time, and using the second force sensor of the balancing branch to collect the force of the balancing branch in real time;

[0049] Kinematic solution steps: 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 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 contraction of the drive branches are adjusted to perform position control.

[0050] Dynamic solution steps: Based on the collected force data of the drive branch and the balance branch, a redundant drive control method based on distributed force sensing is used to inversely calculate the bearing capacity of the load-bearing platform; the redundant drive control method based on distributed force sensing 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, The force Jacobian matrix is ​​calculated based on the driving displacement measured by the force sensors of the six driving 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 bearing 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, thereby unloading 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 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 form a group, which are 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 that are different from the combination of the driving branch chain universal hinges 2-6 on the base form a group, which are 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 supporting 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 link 3-2, the upper end of the rigid link 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 link 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, and 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 in the figure, 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 kinematic solution of the simulator drive branches. It uses the position feedback control method to control the six drive branches 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 carrying capacity from the real-time forces of the six drive branches. It controls the four balanced unloading branches to provide the target force and torque for the carrying platform in real time, unloading the load of the carrying platform and the inertial force and torque generated during the movement, reducing the load of the drive branches, thereby achieving a significant improvement in the platform's carrying capacity and range of motion while ensuring the simulator's motion accuracy.

[0064] A heavy-load redundant drive simulator of 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, surge, bow pitch, and heave.

[0065] Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, and units provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same functions of the system and its various devices, modules, and units provided by the present invention 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 a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; the devices, modules, and units for implementing various functions can also be considered as both software modules implementing the method and structures within the hardware component.

[0066] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

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

2. A heavy-load redundant drive simulator according to claim 1, characterized in that: The driving branch chain includes a telescopic rod and a first driving cylinder 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 heavy-load redundant drive simulator according to claim 1, characterized in that: A guide rail is provided between the slide rail column and the slider.

4. A heavy-load 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. The linear displacement driver includes a second drive cylinder telescopic rod and a second drive cylinder body that are interconnected. The second drive cylinder telescopic rod is connected to the lower end surface of the slider, and the lower part of the second drive cylinder body is fixedly connected to the ground. 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.

5. A 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 angle, and drive displacement variables, and the servo drive system negatively drives the movement of the simulator.

6. A heavy-load redundant drive simulator according to claim 1, characterized in that: The base and the ground are connected by high-strength bolts or welding.

7. A control method for a heavy-load redundant drive simulator, characterized in that: The method uses the heavy-load redundant drive simulator according to any one of claims 1 to 6, and the method comprises the following steps: Data collection: The displacement and force conditions 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 conditions of the balancing branch are 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 drive branch and the balance branch, a redundant drive control method based on distributed force sensing is used to reversely calculate the bearing capacity of the load-bearing platform; Balanced unloading control: Based on the load-bearing capacity of the load-bearing platform, the target force and torque that the balance chain needs to provide are calculated, and the balance 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 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 heavy-load redundant drive simulator according to claim 7, 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 heavy-load redundant drive simulator according to claim 7, characterized in that: In the dynamics solution step, the distributed force sensing redundant drive control method 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, The force Jacobian matrix is ​​calculated based on the driving displacement measured by the force sensors of the six driving 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 bearing moment , thereby providing a basis for the force following control of the balancing branch chain.

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

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