Multi-degree-of-freedom hydraulic driving platform and driving method

Abstract

The invention relates to the technical field of hydraulic driving platforms, in particular to a multi-degree-of-freedom hydraulic driving platform which comprises a bearing platform for bearing and fixing an experimental object, a clamping force adjusting mechanism and an attitude sensor are arranged on the bearing platform, and when the attitude angle of the bearing platform is changed, the clamping force adjusting mechanism adjusts the clamping force of the experimental object; the attitude sensor detects the attitude angle of the bearing platform and sends an adjusting signal, and the clamping force adjusting mechanism receives the adjusting signal and dynamically increases or decreases the clamping force of an experimental object; and the base is arranged opposite to the bearing platform, a servo oil cylinder is hinged and fixed between the base and the bearing platform, and when the servo oil cylinder receives a servo control signal to adjust the stretching, retracting and rotating angles of an output shaft, the bearing platform changes the attitude angle. The hydraulic driving platform has the effect of improving the safety of motion experiment simulation of the hydraulic driving platform.

Description

Technical Field

[0001] This application relates to the technical field of hydraulic drive platforms, and in particular, to a multi-degree-of-freedom hydraulic drive platform. Background Art

[0002] A multi-degree-of-freedom hydraulic drive platform is a load-bearing support mechanism used to carry an object and adjust it to multiple angles as needed, and has a wide range of applications in physical simulation experiments.

[0003] In related technologies, a multi-degree-of-freedom hydraulic drive platform includes a base, a servo cylinder, and a load-bearing platform. One end of the servo cylinder is hinged to the base and has multiple degrees of freedom of rotation directions. The output shaft at the other end of the servo cylinder is hinged and fixed to the load-bearing platform. Personnel sequentially control the rotation angles of different hydraulic cylinders and the telescopic movement of the output shaft as needed, so that the load-bearing platform presents different angular orientations in space, thereby enabling the experimental object fixed on the weighing platform to be adjusted to different orientations in space.

[0004] In the above-mentioned related technologies, during the process of simulating a motion experiment, when simulating the multi-degree-of-freedom motion of large-volume and large-weight objects, forces in different angles and directions will be exerted on the load-bearing platform. When the angle adjustment speed of the object is relatively fast, corresponding accelerations and inertial forces brought by the accelerations will be generated, which is likely to affect the installation firmness between the experimental object and the load-bearing platform and is not conducive to the safe conduct of the motion experiment. Summary of the Invention

[0005] In order to improve the safety of the hydraulic drive platform for simulating a motion experiment, on the one hand, this application provides a multi-degree-of-freedom hydraulic drive platform.

[0006] The multi-degree-of-freedom hydraulic drive platform provided by this application adopts the following technical solutions:

[0007] A multi-degree-of-freedom hydraulic drive platform, comprising:

[0008] A supporting platform that supports and fixes an experimental object. A clamping force adjusting mechanism and an attitude sensor are arranged on the supporting platform. When the attitude angle of the supporting platform changes, the attitude sensor detects the attitude angle of the supporting platform and sends an adjustment signal, and the clamping force adjusting mechanism receives the adjustment signal to dynamically increase or decrease the clamping force of the experimental object;

[0009] A base, which is oppositely arranged with the supporting platform. A servo cylinder is hinged and fixed between the base and the supporting platform. When the servo cylinder receives a servo control signal to adjust the telescopic movement and rotation angle of the output shaft, the attitude angle of the supporting platform changes.

[0010] By adopting the above technical solution, the attitude sensor sends an adjustment signal according to the change of the attitude angle of the supporting platform, so that the clamping force adjustment mechanism can provide a clamping force at a corresponding angle during the movement of the experimental article, thereby helping to improve the connection firmness between the experimental article and the supporting platform, making it not easy for the experimental article to break away from the supporting platform when generating inertial force during movement, and improving the safety of the movement experiment.

[0011] Optionally, the clamping force adjustment mechanism includes at least one set of a first clamping mechanism and a second clamping mechanism, and the clamping directions of the first clamping mechanism and the second clamping mechanism are perpendicular to each other.

[0012] By adopting the above technical solution, at least one set of the first clamping mechanism and the second clamping mechanism provides a cross clamping force in the vertical direction, so that the pre-tightening clamping force adjustment of at least two vertical directions of the experimental object is facilitated, which helps to improve the clamping stability between the experimental article and the supporting platform.

[0013] Optionally, it further includes a first pressure sensor and a second pressure sensor. The first pressure sensor is fixedly connected to the supporting platform, and the first pressure sensor detects the peripheral extrusion force of the experimental object. The second pressure sensor is fixedly connected to the clamping force adjustment mechanism and is used to detect the extrusion force between the clamping force adjustment mechanism and the experimental object.

[0014] By adopting the above technical solution, the first pressure sensor monitors the peripheral extrusion force of the experimental object to facilitate verifying whether the clamping firmness between the experimental object and the supporting platform meets the requirements. The second pressure sensor detects the extrusion force between the clamping force adjustment mechanism and the experimental object to verify whether the clamping force adjustment of the experimental object fails.

[0015] On the other hand, the present application also provides a driving method for a multi-degree-of-freedom hydraulic driving platform, which is applied to the multi-degree-of-freedom hydraulic driving platform as described above, and adopts the following technical solution:

[0016] A driving method for a multi-degree-of-freedom hydraulic driving platform includes:

[0017] Collect the static weight value of the experimental object on the supporting platform and the attitude angle parameters during the movement process, and analyze the change amount of the attitude angle of the attitude angle parameters;

[0018] Perform calculation and analysis based on the change amount of the attitude angle and the static weight value to determine the movement inertial force of the experimental object during the movement process;

[0019] When the difference between the movement inertial force and the basic clamping force is within a preset adjacent interval, match the clamping force adjustment parameter corresponding to the change amount of the attitude angle in the preset adjustment database;

[0020] Clamp the preset clamping force adjustment mechanism according to the clamping force adjustment parameters, and continuously collect and analyze the change amount of the attitude angle to update the clamping force adjustment parameters and continuously adjust the clamping force of the experimental object.

[0021] By adopting the above technical solution, the weight of the experimental object is detected and the change amount of the attitude angle of the supporting platform is analyzed, so as to allocate the clamping force adjustment parameters required to intervene in the inertial force during the movement process, further improve the connection firmness between the clamping force adjustment mechanism and the experimental object and the supporting platform, reduce the probability of falling off under the influence of inertial forces in different postures during the movement experiment, and increase the experimental safety.

[0022] Optionally, when continuously adjusting the clamping force of the experimental object, it further includes:

[0023] Collect the preset servo control parameters of the servo oil cylinder and the weight of the object and perform attitude angle dynamic simulation to determine the simulated attitude angle change parameters;

[0024] Match based on the simulated attitude angle change parameters and the preset adjustment database to determine the simulated clamping force adjustment parameters;

[0025] Analyze based on the simulated clamping force adjustment parameters and the clamping force adjustment parameters to determine the similarity of the clamping force adjustment parameters;

[0026] Match the simulated precise weight value corresponding to the similarity of the adjustment parameters in the preset similarity weight database. When the simulated precise weight value is greater than the preset reliable weight value, configure the simulated clamping force adjustment parameters as the clamping force adjustment parameters.

[0027] By adopting the above technical solution, attitude angle dynamic simulation is performed according to the servo control parameters to form simulated clamping force adjustment parameters, and the similarity between the simulated clamping force adjustment parameters and the clamping force adjustment parameters during actual adjustment is compared and analyzed. Thus, corresponding clamping force adjustment parameters can be matched according to the simulated attitude angle change parameters with high reliability, which is convenient for providing the corresponding clamping force when quickly simulating the movement of the supporting platform.

[0028] Optionally, when determining the simulated attitude angle change parameters, it further includes:

[0029] Conduct motion characteristic analysis according to the preset servo control parameters to determine the proportion of non-uniform motion of the non-uniform motion type and the non-uniform motion simulation time;

[0030] Conduct attitude angle parameter analysis on the non-uniform motion based on the motion simulation time to determine the non-uniform simulated attitude angle parameters;

[0031] Based on the comparison and division of the non-uniform motion simulation time and the collected attitude angle parameters, determine the actual non-uniform motion attitude angle parameters corresponding to the motion simulation time.

[0032] Compare and analyze the actual motion attitude angle parameters and the non-uniform simulated attitude angle parameters to determine the similarity of the attitude angle parameters;

[0033] When the similarity of the attitude angle parameters is greater than the preset good attitude angle parameter similarity, configure the non-uniform simulated attitude angle parameters as the simulated attitude angle change parameters.

[0034] By adopting the above technical solution, collect the simulated attitude angle parameters for the non-uniform motion types in the simulated attitude angle change parameters, and analyze the similarity between the non-uniform simulated attitude angle parameters with relatively complex actions and the actual non-uniform motion attitude angle parameters, so as to use the non-uniform simulated attitude angle parameters with high reliability as the analysis parameter source for the clamping force adjustment parameters, which can improve the calculation efficiency of the clamping force adjustment parameters.

[0035] Optionally, when performing motion feature analysis, it further includes:

[0036] Analyze the composite motion types of the servo cylinder in the preset servo control parameters to determine the proportion of the composite motion types and the composite motion simulation time;

[0037] Collect the composite motion attitude angle parameters based on the proportion of the composite motion types and the composite motion simulation time;

[0038] Based on the composite motion simulation time and the collected attitude angle parameters, perform division to determine the actual composite motion attitude angle parameters corresponding to the composite motion simulation time;

[0039] Compare and analyze the actual composite motion attitude angle parameters and the simulated composite motion attitude angle parameters to determine the similarity of the composite motion simulated attitude angle parameters;

[0040] When the similarity of the composite motion simulated attitude angle parameters is greater than the preset good attitude angle parameter similarity, generate an integration instruction;

[0041] Based on the integration instruction, integrate the non-uniform simulated attitude angle parameters and the composite motion simulated attitude angle parameters into the simulated attitude angle change parameters.

[0042] By adopting the above technical solution, further analyze the composite motion attitude angle parameters during the motion simulation of the servo cylinder, and integrate the composite motion attitude angle parameters and the non-uniform simulated attitude angle parameters, so that when the simulated attitude angle change parameters match and analyze the corresponding clamping force adjustment parameters, the reliability of the data can be further increased.

[0043] In summary, the present application includes at least one of the following beneficial technical effects:

[0044] 1. The attitude sensor sends an adjustment signal according to the change in the attitude angle of the supporting platform, enabling the clamping force adjustment mechanism to provide a clamping force at a corresponding angle during the movement of the experimental article, thereby helping to improve the connection firmness between the experimental article and the supporting platform, making it difficult for the experimental article to break away from the supporting platform when generating inertial force during movement, and enhancing the safety of the movement experiment;

[0045] 2. The multi-degree-of-freedom hydraulic drive platform drive method detects the weight of the experimental object and analyzes the change amount of the attitude angle of the supporting platform, thereby adjusting the clamping force adjustment parameters required to intervene in the movement inertial force during the movement process, enabling the clamping force adjustment mechanism to further improve the connection firmness between the experimental object and the supporting platform, reducing the probability of falling off under the influence of inertial force in different attitudes during the movement experiment, and increasing the experimental safety;

[0046] 3. Analyze the compound motion attitude angle parameters during the motion simulation process of the servo oil cylinder, and integrate the compound motion attitude angle parameters and the non-uniform simulation attitude angle parameters, so that when the simulation attitude angle change parameters match and analyze the corresponding clamping force adjustment parameters, the reliability of the data can be further increased. Description of the Drawings

[0047] Figure 1 is the overall structural schematic diagram of the multi-degree-of-freedom hydraulic drive platform in this application.

[0048] Figure 2 is the partial side view structural schematic diagram of the degree-of-freedom hydraulic drive platform in this application.

[0049] Figure 3 is Figure 1 the enlarged view of part A in

[0050] Figure 4 is the method flow chart of steps S100 to S400 in this application.

[0051] Figure 5 is the method flow chart of steps S401 to S404 in this application.

[0052] Figure 6 is the method flow chart of steps S4011 to S4015 in this application.

[0053] Figure 7 is the method flow chart of steps S40111 to S40116 in this application.

[0054] Figure 8 is the method flow chart of steps S4016 to 4018 in this application. Figure 9 is the method flow chart of steps S101 to S103 in this application.

[0055] Description of reference numerals: 1. Supporting platform; 2. Clamping force adjusting mechanism; 21. First clamping mechanism; 22. Second clamping mechanism; 3. Attitude sensor; 4. Base; 5. Servo oil cylinder; 51. Clamping block; 53. First hinge seat; 54. Second hinge seat; 56. First connecting block; 57. Second connecting block; 571. Hinge groove; 58. Hinge shaft; 6. First pressure sensor; 7. Second pressure sensor. Specific embodiments

[0056] The following will further describe the present application in detail with reference to the Figure 1-8 accompanying drawings.

[0057] In a first aspect, an embodiment of the present application discloses a multi-degree-of-freedom hydraulic drive platform. Referring to Figure 1 , the multi-degree-of-freedom hydraulic drive platform includes a supporting platform 1, a clamping force adjusting mechanism 2, an attitude sensor 3, a base 4, and a servo oil cylinder 5. One end of the servo oil cylinder 5 is fixedly hinged to the base 4 in a rotating manner, and the other end is hinged to the supporting platform 1. When an external servo adjustment signal is input into the servo oil cylinder 5, the telescopic shaft of the servo oil cylinder 5 is controlled to perform telescopic adjustment, so as to adjust the attitude angle of the supporting platform 1. The clamping force adjusting mechanism 2 is arranged on the supporting platform 1 and is used for dynamically adjusting the clamping force on the experimental article. The attitude sensor 3 is arranged on the supporting platform 1 and is used for detecting the attitude angle of the supporting platform 1 and sending an adjustment signal to the clamping force adjusting mechanism 2 to control the clamping force adjusting mechanism 2 to dynamically adjust the clamping force on the experimental article, thereby improving the connection firmness between the experimental article and the supporting platform 1.

[0058] Referring to Figure 1 and Figure 2 , at least one group of clamping force adjusting mechanisms 2 is provided. Each group of clamping force adjusting mechanisms 2 includes a first clamping mechanism 21 and a second clamping mechanism 22. Both the first clamping mechanism 21 and the second clamping mechanism 22 are adjustable oil cylinders. A clamping block 23 is fixedly arranged on the output shaft of the adjustable oil cylinder. When the output shaft extends, the clamping on the experimental article is released, and vice versa, the clamping force on the experimental article is increased. In this embodiment, taking one group of clamping force adjusting mechanisms 2 as an example for use, when two or more groups are provided, the two or more groups of adjusting mechanisms are arranged circumferentially symmetrically.

[0059] Referring to Figure 1, a first pressure sensor 6 and a second pressure sensor 7 are further arranged on the supporting platform 1. The first pressure sensor 6 is fixed on the surface of the supporting platform 1 to contact the circumferential side wall of the experimental article, and is used to detect the extrusion force between the test article and the circumferential side of the supporting platform 1. The second pressure sensor 7 is arranged on the clamping blocks 23 of the first clamping mechanism 21 and the second clamping mechanism 22, and is used to detect the extrusion force between the experimental article and the clamping blocks 23. The extrusion force detected by the first pressure sensor 6 is used to calculate, analyze and feedback the circumferential inertial force of the experimental article, and the extrusion force detected by the second pressure sensor 7 is used to analyze the effectiveness of the clamping force adjustment of the clamping force adjustment mechanism 2.

[0060] Among them, the attitude sensor 3 outputs the detected attitude parameters to a preset clamping force adjustment system for querying, so as to query the clamping force adjustment parameters corresponding to improving the firmness of the experimental article and the supporting platform 1 during movement, and outputs the clamping force adjustment parameters to the clamping force adjustment mechanism 2, thereby completing the dynamic adjustment of the clamping force of the clamping force adjustment mechanism 2.

[0061] Referring to Figure 1 and Figure 2 , a first hinge seat 53 and a second hinge seat 54 are respectively arranged at both ends of the servo oil cylinder 5. The first hinge seat 53 is fixedly connected with the base 4, and the second hinge seat 54 is fixedly connected with the lower side wall of the supporting platform 1. Both the first hinge seat 53 and the second hinge seat 54 include a connecting block one 56, a connecting block two 57 and a hinge shaft 58. The connecting block one 56 is fixedly connected with the base 4 by bolts, and the connecting block two 57 is fixedly connected with the lower end of the servo oil cylinder 5 by bolts. And a hinge groove 571 is formed on the side of the connecting block two 57 facing the connecting block one 56. The hinge shaft 58 is rotatably hinged with the connecting block one 56, so that the hinge shaft 58 and the connecting block one 56 form relative rotation in the vertical direction. Bolts are arranged on the connecting block two 57, and the hinge shaft 58 is embedded and hinged in the hinge groove 571, so that the servo oil cylinder 5 can rotate in the vertical direction and the horizontal direction. In addition, the output shaft of the servo oil cylinder 5 is hinged and fixed with the second hinge seat 54, so that the output shaft of the servo oil cylinder 5 and the supporting platform 1 form relative rotation.

[0062] The implementation principle of a multi-degree-of-freedom hydraulic drive platform in an embodiment of the present application is: the attitude sensor 3 detects the attitude angle of the supporting platform 1 and outputs an adjustment signal. After receiving the adjustment signal, the first clamping mechanism 21 and the second clamping mechanism 22 adjust the clamping force on the circumferential side of the experimental article to increase the installation firmness of the experimental article and the supporting platform 1 during the movement test.

[0063] In the second aspect, the present application also provides a driving method for a multi-degree-of-freedom hydraulic drive platform. Referring to Figure 4 , the method flow of the driving method for a multi-degree-of-freedom hydraulic drive platform includes the following steps:

[0064] Step S100: Collect the static weight value of the experimental object on the supporting platform and the attitude angle parameters during the movement process, and analyze the attitude angle change amount of the attitude angle parameters;

[0065] Step S200: Perform calculation and analysis based on the attitude angle change amount and the static weight value to determine the moving inertial force during the movement process of the experimental object;

[0066] Step S300: When the difference between the moving inertial force and the basic clamping force is within a preset adjacent interval, match the clamping force adjustment parameter corresponding to the attitude angle change amount in the preset adjustment database;

[0067] Step S400: Clamp the preset clamping force adjustment mechanism according to the clamping force adjustment parameter, and continuously collect and analyze the attitude angle change amount to update the clamping force adjustment parameter and perform continuous clamping force adjustment on the experimental object.

[0068] Refer to Figure 5 , when performing continuous clamping force adjustment on the experimental object, it further includes:

[0069] Step S401: Collect the preset servo control parameters of the servo oil cylinder and the object weight and perform attitude angle dynamic simulation to determine the simulated attitude angle change parameters;

[0070] Step S402: Based on the simulated attitude angle change parameters and the preset adjustment database for matching to determine the simulated clamping force adjustment parameters;

[0071] Step S403: Analyze based on the simulated clamping force adjustment parameters and the clamping force adjustment parameters to determine the similarity of the clamping force adjustment parameters;

[0072] Step S404: Match the simulated precise weight value corresponding to the adjustment parameter similarity in the preset similarity weight database. When the simulated precise weight value is greater than the preset reliable weight value, configure the simulated clamping force adjustment parameter as the clamping force adjustment parameter.

[0073] Refer to Figure 6 , when determining the simulated attitude angle change parameters, it further includes:

[0074] Step S4011: Perform motion characteristic analysis according to the preset servo control parameters to determine the proportion of non-uniform motion of the non-uniform motion type and the non-uniform motion simulation time;

[0075] Step S4012: Perform attitude angle parameter analysis on the non-uniform motion based on the motion simulation time to determine the non-uniform simulated attitude angle parameters;

[0076] Step S4013: Based on the comparison and division of the non-uniform motion simulation time and the collected attitude angle parameters, determine the actual non-uniform motion attitude angle parameters corresponding to the motion simulation time;

[0077] Step S4014: Compare and analyze the actual motion attitude angle parameters and the non-uniform simulation attitude angle parameters to determine the similarity of the attitude angle parameters;

[0078] Step S4015: When the similarity of the attitude angle parameters is greater than the preset good attitude angle parameter similarity, configure the non-uniform simulation attitude angle parameters as the simulated attitude angle change parameters.

[0079] Refer to Figure 7 , when performing motion feature analysis, it also includes:

[0080] Step S40111: Analyze the compound motion types of the servo cylinders in the preset servo control parameters to determine the proportion of the compound motion types and the compound motion simulation time;

[0081] Step S40112: Collect the compound motion attitude angle parameters based on the proportion of the compound motion types and the compound motion simulation time;

[0082] Step S40113: Based on the compound motion simulation time and the collected attitude angle parameters, perform division to determine the actual compound motion attitude angle parameters corresponding to the compound motion simulation time;

[0083] Step S40114: Compare and analyze the actual compound motion attitude angle parameters and the simulated compound motion attitude angle parameters to determine the similarity of the compound motion simulation attitude angle parameters;

[0084] Step S40115: When the similarity of the compound motion simulation attitude angle parameters is greater than the preset good attitude angle parameter similarity, generate an integration instruction;

[0085] Step S40116: Based on the integration instruction, integrate the non-uniform simulation attitude angle parameters and the compound motion simulation attitude angle parameters into the simulated attitude angle change parameters.

[0086] Refer to Figure 8 , when performing attitude angle dynamic simulation, it also includes:

[0087] Step S4016: Perform motion analysis on the motion simulation parameters to determine the inertial motion simulation parameters that generate motion inertial forces;

[0088] Step S4017: Based on the inertial motion simulation parameters and the static weight value analysis, determine the inertial motion simulation attitude angle parameters;

[0089] Step S4018: Perform parameter integration based on the inertial motion simulation attitude angle parameters and the simulated attitude angle change parameters.

[0090] Reference Figure 9 , when collecting the attitude angle parameters during the movement of the experimental object on the supporting platform, it further includes:

[0091] Step S101: Compare the moving inertia force with a preset upper limit inertia force, and calculate the inertia force difference when the moving inertia force is greater than the preset upper limit inertia force;

[0092] Step S102: Match the corresponding noise filtering parameter in the preset inertia noise database based on the inertia force difference;

[0093] Step S103: Filter the attitude angle parameters based on the noise filtering parameter and update them as the attitude angle parameters.

[0094] The above are all the preferred embodiments of this application. Without restricting the protection scope of this application accordingly, therefore: All equivalent changes made according to the structure, shape, and principle of this application shall be covered within the protection scope of this application.

Claims

1. A multi-degree-of-freedom hydraulic drive platform, characterized in that: include: A supporting platform (1) supports and fixes the experimental object, and a clamping force adjustment mechanism (2) and a posture sensor (3) are provided on the supporting platform (1). When the supporting platform (1) changes its posture angle, the posture sensor (3) detects the posture angle of the supporting platform (1) and sends an adjustment signal, and the clamping force adjustment mechanism (2) receives the adjustment signal to dynamically increase or decrease the clamping force of the experimental object; The base (4) is arranged opposite to the supporting platform (1), and a servo cylinder (5) is hingedly fixed between the base (4) and the supporting platform (1). When the servo cylinder (5) receives a servo control signal to adjust the extension and rotation angle of the output shaft, the supporting platform (1) changes its attitude angle.

2. A multi-degree-of-freedom hydraulic drive platform according to claim 1, characterized in that: The clamping force adjustment mechanism (2) comprises at least one set of a first clamping mechanism (21) and a second clamping mechanism (22), and the clamping directions of the first clamping mechanism (21) and the second clamping mechanism (22) are arranged perpendicular to each other.

3. The multi-degree-of-freedom hydraulic drive platform according to claim 1, characterized in that: It also includes a first pressure sensor (6) and a second pressure sensor (7), wherein the first pressure sensor (6) is fixedly connected to the supporting platform (1), and the first pressure sensor (6) detects the circumferential squeezing force of the experimental object, and the second pressure sensor (7) is fixedly connected to the clamping force adjusting mechanism (2) and is used to detect the squeezing force of the clamping force adjusting mechanism (2) and the experimental object.

4. A method for driving a multi-degree-of-freedom hydraulic drive platform, applied to the multi-degree-of-freedom hydraulic drive platform as claimed in any one of claims 1 to 3, characterized in that: include: Collect the static weight value of the experimental object on the supporting platform and the attitude angle parameters during the movement, and analyze the attitude angle change of the attitude angle parameters; The inertial force of the experimental object during its motion is determined by calculation and analysis based on the attitude angle change and the static weight value; When the difference between the motion inertia force and the basic clamping force is within a preset adjacent interval, the clamping force adjustment parameter corresponding to the attitude angle change in the preset adjustment database is matched; The preset clamping force adjustment mechanism is clamped according to the clamping force adjustment parameters, and the attitude angle change is continuously collected for analysis to update the clamping force adjustment parameters and continuously adjust the clamping force of the experimental object.

5. A multi-degree-of-freedom hydraulic drive platform driving method according to claim 4, characterized in that: When the clamping force of the test object is adjusted continuously, it also includes: Collect the preset servo control parameters of the servo cylinder and the weight of the object and perform dynamic simulation of the attitude angle to determine the simulated attitude angle change parameters; Based on the simulated attitude angle change parameters and the preset adjustment database, matching is performed to determine the clamping force simulation adjustment parameters; Performing analysis based on the clamping force simulation adjustment parameters and the clamping force adjustment parameters to determine the clamping force adjustment parameter similarity; The simulated precise weight value corresponding to the similarity of the adjustment parameter in the preset similarity weight database is matched, and when the simulated precise weight value is greater than the preset reliable weight value, the clamping force simulation adjustment parameter is configured as the clamping force adjustment parameter.

6. A multi-degree-of-freedom hydraulic drive platform driving method according to claim 5, characterized in that: When determining the parameters of the simulated attitude angle change, it also includes: Perform motion characteristic analysis according to preset servo control parameters to determine the non-uniform motion proportion of non-uniform motion types and the non-uniform motion simulation time; Performing attitude angle parameter analysis on non-uniform motion based on motion simulation time to determine non-uniform simulation attitude angle parameters; Based on the comparison and division of the non-uniform motion simulation time and the collected attitude angle parameters, the actual non-uniform motion attitude angle parameters corresponding to the motion simulation time are determined; Compare and analyze the actual motion attitude angle parameters and the non-uniform speed simulation attitude angle parameters to determine the similarity of the attitude angle parameters; When the attitude angle parameter similarity is greater than the preset good attitude angle parameter similarity, the non-uniform speed simulation attitude angle parameter is configured as the simulation attitude angle change parameter.

7. A method for driving a multi-degree-of-freedom hydraulic drive platform according to claim 6, characterized in that: When performing motion feature analysis, it also includes: Analyze the compound motion types of the servo cylinder in the preset servo control parameters to determine the proportion of compound motion types and compound motion simulation time; Collect compound motion attitude angle parameters based on compound motion type proportion and compound motion simulation time; The compound motion simulation time and the acquired attitude angle parameters are divided to determine the actual compound motion attitude angle parameters corresponding to the compound motion simulation time; Compare and analyze the actual compound motion attitude angle parameters and the simulated compound motion attitude angle parameters to determine the similarity of the compound motion simulated attitude angle parameters; When the composite motion simulation attitude angle parameter similarity is greater than the preset good attitude angle parameter similarity, generating an integration instruction; Based on the integration instruction, the non-uniform speed simulation attitude angle parameters and the compound motion simulation attitude angle parameters are integrated into the simulation attitude angle change parameters.

8. The method for driving a multi-degree-of-freedom hydraulic drive platform according to claim 5, characterized in that: When performing attitude angle dynamic simulation, it also includes: Performing motion analysis on the motion simulation parameters to determine inertial motion simulation parameters that generate motion inertial force; Determine the inertial motion simulation attitude angle parameters based on the inertial motion simulation parameters and the static weight value analysis; Parameter integration is performed based on inertial motion simulation attitude angle parameters and simulation attitude angle change parameters.

9. A method for driving a multi-degree-of-freedom hydraulic drive platform according to claim 4 or 5, characterized in that: When collecting the attitude angle parameters of the experimental object on the supporting platform during its motion, it also includes: Compare the motion inertia force with the preset upper limit inertia force, and calculate the inertia force difference when the motion inertia force is greater than the preset upper limit inertia force; Matching corresponding noise filtering parameters in a preset inertial noise database based on the inertial force difference; The attitude angle parameters are filtered based on the noise filtering parameters and updated to the attitude angle parameters.

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