Superconducting electric suspension full-speed domain offline rigidity simulation device and method

Abstract

The invention belongs to the field of superconducting electric suspension, and discloses an offline test device and method for a superconducting electric suspension system. The device comprises a suspension platform, a ground stator module, a ground auxiliary support device and a converter device. The suspension platform is arranged above the ground auxiliary supporting device, and the ground stator modules are located on the two sides of the suspension platform. A real suspension state is realized on the ground, and the suspension rigidity characteristics at different operation speeds are equivalent by simulating a rigidity control strategy. The real-time control current of the converter is inversely calculated through an equivalent stiffness control strategy to simulate the suspension stiffness characteristics of the superconducting electric suspension system at different operation speeds, and the suspension characteristics of the vehicle in the operation process can be truly reproduced. Compared with a vibration test fixed on the ground, the precise reproduction of the suspension rigidity can realize the precise reproduction of the vehicle-mounted vibration response under the electromagnetic harmonic disturbance of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of superconducting electric levitation, and more specifically to an offline testing device and method for a superconducting electric levitation system. Background Technology

[0002] The description of the background art in this invention pertains to related technologies and is used merely for illustration and to facilitate understanding of the invention. It should not be construed as the applicant explicitly believing or presuming that the invention was prior art on the filing date of the first application.

[0003] The superconducting electric levitation system consists of a superconducting magnet and a levitation coil stator module. It features high thrust, low loss, high power density, and high power factor, and has a wide range of applications in ultra-high-speed maglev transportation systems and aerospace electromagnetic launch systems.

[0004] During the operation of maglev transportation systems and electromagnetic launch systems, the electromagnetic levitation characteristics of the superconducting electric levitation system directly affect the dynamic response characteristics. As a passive levitation system, its levitation stiffness is directly related to speed. Therefore, it is necessary to analyze its dynamic response characteristics under different speeds and corresponding levitation stiffnesses. Summary of the Invention

[0005] The purpose of this invention is to provide a device and method for simulating the offline stiffness of a superconducting electric levitation system across the entire speed range. By building an integrated offline electromagnetic test platform system, and through an equivalent stiffness control strategy, the electromagnetic levitation characteristics of the levitation platform at different speeds can be simulated. Furthermore, by using electromagnetic excitation coils to simulate the vibration response under electromagnetic excitation at different speeds, the test results more closely reflect the actual operating conditions of electromagnetic trains, making the offline test data more reliable and reducing the overall development cycle and cost of the superconducting electric levitation system.

[0006] A superconducting electric levitation full-velocity-range offline stiffness simulation device includes:

[0007] The system comprises a suspended platform, a ground stator module, a ground auxiliary support device, and a converter; the suspended platform is positioned above the ground auxiliary support device, and the ground stator module is located on both sides of the suspended platform.

[0008] Furthermore, the suspension platform is the suspension mover of the stiffness simulation device, which consists of a suspension frame, a superconducting magnet, and a position detection device; the suspension frame is the main structure of the suspension mover; the superconducting magnet is the output structure of the suspension power, and its electromagnetic mutual induction with the ground module coil provides electromagnetic levitation force for the entire suspension magnet; the position detection device relies on a laser displacement sensor to monitor the attitude change of the suspension mover in real time as the input of the subsequent simulated stiffness control algorithm.

[0009] Furthermore, the ground stator module is the main part of the ground structure of the simulation device, consisting of ground module coils, which are ground electromagnetic devices.

[0010] Furthermore, the ground auxiliary support device is a placement platform in a magnetic levitation non-suspended state and a ground protection device in a levitation instability condition, including ground springs and damping devices.

[0011] Furthermore, the converter device consists of a converter and an equivalent stiffness controller; the converter is the current-carrying device for the ground module coil and is the current source for the ground module coil; the equivalent stiffness controller integrates an equivalent stiffness control algorithm, which mainly controls the current output of the converter. It receives the real-time attitude of the suspended mover and adjusts the current output of the converter through a real-time control algorithm to realize the simulation of suspension stiffness in the full speed domain of the experimental platform; the controller is signal-connected to the converter, and the converter is electrically connected to the power supply device and the ground coil respectively.

[0012] A method for simulating the stiffness of superconducting electric levitation across the entire speed range is provided, using the aforementioned device. The method includes: position detection of the stiffness simulation device, modeling of the electromagnetic force model of the simulated stiffness test platform, calculation of the electromagnetic force required for the simulated stiffness, simulation of the levitation control current, and verification of the simulated stiffness.

[0013] Furthermore, the stiffness simulation device position detection includes the following steps: laser displacement sensors are installed at the four corners of the suspension platform to detect the three degrees of freedom displacements respectively. The laser displacement sensors transmit the displacements of the four corners of the platform to the stiffness simulation controller. The suspension attitude of the suspension platform is determined by synthesizing the four corner displacements. Abnormal displacement data is eliminated through cross-verification of multiple inputs.

[0014] The displacements of the four corners of the vehicle body (x1, y1, z1), (x2, y2, z2), (x3, y2, z3), and (x4, y4, z4) are calculated using displacement sensors to solve for the suspension attitude of the hovering platform. Taking the x-degree of freedom as an example, x = (x1 + x2 + x3 + x4) / 4. If the displacement residual at a certain point is too large, the outlier point is marked and removed.

[0015] Furthermore, the electromagnetic force modeling of the simulated stiffness test platform includes the following steps: adjusting the suspended platform to different attitude positions using ground-based auxiliary support devices; measuring the electromagnetic force relationship between the superconducting magnet and the ground coil at different positions using electromagnetic measurements of the test platform; fitting the electromagnetic force model of the electromagnetic test platform under different attitudes using a polynomial fitting method; determining the optimal coefficients using the least squares criterion to make the polynomial curve optimally approximate the given data points. This method can effectively extract data trends, suppress noise interference, and obtain a smooth fitting model.

[0016]

[0017] Furthermore, the calculation of the electromagnetic force required for the simulated stiffness includes the following steps: calculating the electromagnetic levitation stiffness of the simulated superconducting electric levitation system at different operating speeds based on the Biot-Saffar law; establishing a six-degree-of-freedom model of electromagnetic-kinetic coupling based on the analytical electromagnetic force model, and calculating the real-time electromagnetic force required by the levitation platform based on the real-time feedback position.

[0018] Electromagnetic force calculation process:

[0019]

[0020] In the formula: R is the loop resistance of the zero flux coil; i n,k and e n,k Let K be the current and induced voltage of the k-th loop of the nth zero-flux coil (k = 1, 2, 3, 4); solve for the magnetic field using Biot-Savart's law of current flowing through it.

[0021]

[0022] In the formula: μ0 is the vacuum permeability; I is the current; dl is the line element of the coil; r is the vector from the line element to the field point; r is the distance from the line element to the field point; the electromagnetic force and electromagnetic torque on the superconducting coil are calculated according to the Ampere force formula, and the electromagnetic force and electromagnetic torque on the suspension frame are solved by the Biot-Savart law;

[0023]

[0024] In the formula: I sc dl represents the superconducting coil current. sc B is a line element of a superconducting coil. lev_sc The spatial magnetic field of the zero flux coil at the superconducting coil element; r sc dF is the vector from the superconducting coil element to the center of mass of the suspension frame; lev_sc The electromagnetic stiffness, calculated from the electromagnetic force and displacement, is the levitation force acting on the superconducting coil element, as shown below:

[0025]

[0026] The test bench current can be obtained by fitting the electromagnetic stiffness with the polynomial model of the electromagnetic force model of the test bench as described above.

[0027] Furthermore, the simulated stiffness suspension control current includes the following steps: calculating the reference current of the ground coil based on the electromagnetic force required for simulated stiffness and the electromagnetic force model of the test platform; setting the damping additional term according to the attitude change rate of the suspension platform; and comprehensively weighting to determine the actual converter output current.

[0028] The simulation system stiffness aims to ensure that the stiffness of the integrated electromagnetic test platform matches that of the test line by adjusting the coil current in real time. It is assumed that the suspension stiffness of the test line is constant at a fixed velocity, as shown below:

[0029] F mlv =k i ·i+k x ·x=k con ·x

[0030] Where kcon is the constant stiffness at the corresponding speed; by adjusting the current of the ground coil, the electromagnetic force on the suspension frame is the same as the stiffness force required under the constant stiffness, thus simulating the suspension characteristics of the vehicle body at different speeds and different stiffnesses.

[0031] To increase system stability, a damping term is added. The modified expression is shown below:

[0032] F mlv =k i ·i+k x ·x+c x ·v

[0033] The damping additional term is set according to the attitude change rate of the suspended platform, and the actual converter output current is determined by comprehensive weighting.

[0034] The simulated stiffness verification includes the following steps: by exciting the ground module, the vibration displacement parameters of the suspended platform under different equivalent stiffnesses are detected and the natural frequency of vibration is analyzed; the equivalent stiffness of the current suspension control of the test platform is calculated by using the natural frequency and the mass of the suspension test platform.

[0035] The embodiments of the present invention have the following beneficial effects:

[0036] This invention proposes a full-speed-domain offline stiffness simulation device for a superconducting electric suspension system, which can realize the stable suspension function of a magnetic levitation platform offline, thereby reproducing the suspension state of the superconducting electric suspension system;

[0037] The equivalent stiffness control method for the superconducting electric levitation system in the full speed domain proposed in this invention can simulate the levitation stiffness characteristics of a magnetic levitation platform at different operating speeds and effectively reproduce the levitation vibration response of a superconducting magnet. Attached Figure Description

[0038] Figure 1 Schematic diagram of the test platform

[0039] Figure 2 for Figure 1 Top view.

[0040] Figure 3 This is a schematic diagram of the suspended platform structure;

[0041] Figure 4 This is a schematic diagram of the ground stator module structure;

[0042] Figure 5 This is a schematic diagram of the converter connection.

[0043] Figure 6 Equivalent circuit diagram;

[0044] Figure 7 For computational logic diagrams;

[0045] Figure 8 For the control strategy flowchart;

[0046] Figure 9 The displacement curve;

[0047] Figure 10 The curves represent the electromagnetic forces at the four corners. Detailed Implementation

[0048] The present application will be further described below with reference to the embodiments.

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, in the following description, different "an embodiment" or "an embodiment" do not necessarily refer to the same embodiment. Different embodiments can be substituted or combined, and for those skilled in the art, other implementation methods can be obtained based on these embodiments without creative effort.

[0050] Combined with appendix Figure 1-10 A superconducting electric levitation full-velocity domain offline stiffness simulation device, comprising:

[0051] The system includes a suspended platform 3, a ground stator module 1, a ground auxiliary support device 3, and a converter device 4; the suspended platform is positioned above the ground auxiliary support device, and the ground stator module is located on both sides of the suspended platform.

[0052] In some embodiments, the suspension platform is the levitation mover of the stiffness simulation device, consisting of a suspension frame, a superconducting magnet, and a position detection device. The suspension frame is the main structure of the levitation mover, primarily simulating the weight of the superconducting electric levitation system. The superconducting magnet is the output structure for levitation power; its electromagnetic interaction with the ground module coil provides electromagnetic levitation force for the entire magnet. The position detection device relies on a laser displacement sensor to monitor the attitude changes of the levitation mover in real time as input for subsequent stiffness control algorithms. (See attached diagram.) Figure 3 It includes: a superconducting magnet 5, and externally, a ground module 6 and a ground support 7.

[0053] In some embodiments, the ground stator module is the main body of the ground structure of the simulation device, mainly composed of ground module coils. These ground module coils are ground electromagnetic devices, whose main function is to provide the electromagnetic force required for magnetic levitation through the interaction of the ground magnetic field and the superconducting magnet. For example... Figure 4 As shown, it includes a ground coil 8 and a module backplate 9.

[0054] In some embodiments, the ground auxiliary support device is a placement platform in a magnetic levitation non-suspended state and a ground protection device in a levitation instability condition, which mainly consists of ground springs and damping devices.

[0055] The spring dampers are connected in parallel.

[0056] In some embodiments, the converter device consists of a converter and an equivalent stiffness controller. The converter is the current-carrying device for the ground module coil and serves as the current source for the ground module coil. The equivalent stiffness controller integrates an equivalent stiffness control algorithm and mainly controls the current output of the converter. It receives the real-time attitude of the suspended mover and adjusts the current output of the converter through a real-time control algorithm to achieve the simulation of suspension stiffness in the full speed domain of the experimental platform.

[0057] A method for simulating the stiffness of superconducting electric levitation across the entire speed range is provided, using the aforementioned device. The method includes: position detection of the stiffness simulation device, modeling of the electromagnetic force model of the simulated stiffness test platform, calculation of the electromagnetic force required for the simulated stiffness, simulation of the levitation control current, and verification of the simulated stiffness.

[0058] Furthermore, the position detection of the stiffness simulation device includes the following steps: laser displacement sensors are installed at the four corners of the suspension platform to detect the three degrees of freedom displacements respectively. The laser displacement sensors transmit the displacements of the four corners of the platform to the stiffness simulation controller. The suspension attitude of the suspension platform is determined by synthesizing the four corner displacements. Abnormal displacement data is eliminated through cross-verification of multiple inputs.

[0059] The displacements of the four corners of the vehicle body (x1, y1, z1), (x2, y2, z2), (x3, y2, z3), and (x4, y4, z4) are calculated using displacement sensors to solve for the suspension attitude of the hovering platform. Taking the x-degree of freedom as an example, x = (x1 + x2 + x3 + x4) / 4. If the displacement residual at a certain point is too large, the outlier point is marked and removed.

[0060] In some embodiments, the electromagnetic force modeling of the simulated stiffness test platform includes the following steps: adjusting the different attitude positions of the suspended platform through the ground auxiliary support device, measuring the electromagnetic force relationship between the superconducting magnet and the ground coil at different positions of the electromagnetic test platform, and fitting the electromagnetic force model of the electromagnetic test platform at different attitudes based on the polynomial fitting method.

[0061] A polynomial fitting method is proposed, which determines the optimal coefficients using the least squares criterion to make the polynomial curve best approximate a given data point. This method can effectively extract data trends, suppress noise interference, and obtain a smooth fitting model.

[0062]

[0063] In some embodiments, the calculation of the electromagnetic force required to simulate stiffness includes the following steps: calculating the electromagnetic levitation stiffness of the simulated superconducting electric levitation system at different operating speeds based on the Biot-Saffar law; establishing a six-degree-of-freedom model of electromagnetic-motion coupling based on the analytical electromagnetic force model; and calculating the electromagnetic force required by the levitation platform in real time based on the real-time feedback position.

[0064] Electromagnetic force calculation process: Equivalent circuit of zero flux coil as follows Figure 6 As shown.

[0065]

[0066] In the formula: R is the loop resistance of the zero flux coil; i n,k and e n,k Let be the current and induced voltage of the k-th loop of the nth zero-flux coil, respectively (k = 1, 2, 3, 4). Solve for the magnetic field using Biot-Savart's law of current flow:

[0067]

[0068] In the formula: μ0 is the permeability of free space; I is the current; dl is the line element of the coil; r is the vector from the line element to the field point; and r is the distance from the line element to the field point. The electromagnetic force and electromagnetic torque on the superconducting coil are calculated according to the Ampere force formula, and the electromagnetic force and electromagnetic torque on the suspension frame are solved by Biot-Savart law.

[0069]

[0070] In the formula: I sc dl represents the superconducting coil current. sc B is a line element of a superconducting coil. lev_sc The spatial magnetic field of the zero flux coil at the superconducting coil element; r sc dF is the vector from the superconducting coil element to the center of mass of the suspension frame; lev_sc The electromagnetic stiffness, calculated from the electromagnetic force and displacement, is the levitation force acting on the superconducting coil element, as shown below:

[0071]

[0072] The electromagnetic current of the test bench can be obtained by fitting the electromagnetic stiffness with the polynomial model of the electromagnetic force of the test bench described above. The logical relationship is as follows: Figure 7 As shown:

[0073] Furthermore, the simulated stiffness suspension control current includes the following steps: calculating the reference current of the ground coil based on the electromagnetic force required for simulated stiffness and the electromagnetic force model of the test platform; setting the damping additional term according to the attitude change rate of the suspension platform; and comprehensively weighting to determine the actual converter output current.

[0074] The simulation system stiffness aims to ensure that the stiffness of the integrated electromagnetic test platform matches that of the test line by adjusting the coil current in real time. It is assumed that the suspension stiffness of the test line is constant at a fixed velocity, as shown below:

[0075] F mlv =k i ·i+k x ·x=k con ·x

[0076] Where kcon is the constant stiffness at the corresponding speed. By adjusting the current in the ground coil to make the electromagnetic force on the suspension frame the same as the stiffness force required under the constant stiffness constant, the suspension characteristics of the vehicle body at different speeds and stiffnesses can be simulated. The control strategy flowchart is as follows: Figure 8 As shown:

[0077] To increase system stability, a damping term is added. The modified expression is shown below:

[0078] F mlv =k i ·i+k x ·x+c x ·v

[0079] The damping additional term is set according to the attitude change rate of the suspended platform, and the actual converter output current is determined by comprehensive weighting.

[0080] The simulated stiffness verification includes the following steps: by exciting the ground module, the vibration displacement parameters of the suspended platform under different equivalent stiffnesses are detected and the natural frequency of vibration is analyzed; the equivalent stiffness of the current suspension control of the test platform is calculated by using the natural frequency and the mass of the suspension test platform.

[0081] This invention proposes a full-speed-domain offline stiffness simulation device for a superconducting electric suspension system, which can realize the stable suspension function of a magnetic levitation platform offline, thereby reproducing the suspension state of the superconducting electric suspension system;

[0082] The proposed method for controlling the equivalent stiffness of a superconducting electric levitation system across the entire speed range can simulate the levitation stiffness characteristics of a magnetic levitation platform at different operating speeds and effectively reproduce the levitation vibration response of a superconducting magnet. (See the effect diagram below.) Figure 9 and 10 As shown.

[0083] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A superconducting electric suspension full-velocity domain offline stiffness simulation device, characterized in that, include: Suspended platform, ground stator module, ground auxiliary support device and converter; The suspended platform is positioned above the ground auxiliary support device, and the ground stator modules are located on both sides of the suspended platform.

2. The superconducting electric suspension full-velocity domain offline stiffness simulation device according to claim 1, characterized in that, The suspension platform is the levitation mover of the stiffness simulation device, consisting of a suspension frame, a superconducting magnet, and a position detection device. The suspension frame is the main structure of the levitation mover. The superconducting magnet is the power output structure of the levitation force, and its electromagnetic mutual induction with the ground module coil provides electromagnetic levitation force for the entire levitation magnet. The position detection device relies on a laser displacement sensor to monitor the attitude change of the levitation mover in real time as the input of the subsequent simulated stiffness control algorithm.

3. The superconducting electric suspension full-velocity domain offline stiffness simulation device according to claim 1, characterized in that, The ground stator module is the main part of the ground structure of the simulation device, consisting of ground module coils, which are ground electromagnetic devices.

4. The superconducting electric suspension full-velocity domain offline stiffness simulation device according to claim 1, characterized in that, The ground auxiliary support device is a placement platform in a magnetic levitation non-suspended state and a ground protection device in a levitation instability condition, including ground springs and damping devices.

5. The superconducting electric suspension full-velocity domain offline stiffness simulation device according to claim 1, characterized in that, The converter device consists of a converter and an equivalent stiffness controller. The converter is the current-carrying device for the ground module coil and serves as the current source for the ground module coil. The equivalent stiffness controller integrates an equivalent stiffness control algorithm and mainly controls the current output of the converter. It receives the real-time attitude of the suspended mover and adjusts the current output of the converter through a real-time control algorithm to realize the simulation of suspension stiffness in the full speed domain of the experimental platform. The controller is signal-connected to the converter, and the converter is electrically connected to the power supply device and the ground coil, respectively.

6. A method for simulating the offline stiffness of superconducting electric suspension across the entire velocity domain, characterized in that, The device described in any one of claims 1-5 is used to complete the following: position detection of the stiffness simulation device, modeling of the electromagnetic force model of the simulated stiffness test platform, calculation of the electromagnetic force required for the simulated stiffness, simulation of the stiffness suspension control current, and verification of the simulated stiffness.

7. The method for simulating the offline stiffness of superconducting electric suspension across the entire velocity domain according to claim 6, characterized in that, The stiffness simulation device position detection includes the following steps: laser displacement sensors are installed at the four corners of the suspension platform to detect the three degrees of freedom displacements respectively. The laser displacement sensors transmit the displacements of the four corners of the platform to the stiffness simulation controller. The suspension attitude of the suspension platform is determined by synthesizing the four corner displacements. Abnormal displacement data is eliminated through cross-verification of multiple inputs. The displacements of the four corners of the vehicle body (x1, y1, z1), (x2, y2, z2), (x3, y2, z3), and (x4, y4, z4) are calculated using displacement sensors to solve for the suspension attitude of the floating platform. Taking the x-degree of freedom as an example, x = (x1 + x2 + x3 + x4) / 4. If the displacement residual at a certain point is too large, the outlier point is marked and removed.

8. The method for simulating the offline stiffness of superconducting electric suspension across the entire velocity domain according to claim 6, characterized in that, The electromagnetic force modeling of the simulated stiffness test platform includes the following steps: adjusting the suspended platform to different attitude positions using ground-based auxiliary support devices; measuring the electromagnetic force relationship between the superconducting magnet and the ground coil at different positions using electromagnetic measurements of the test platform; fitting the electromagnetic force model of the electromagnetic test platform under different attitudes using a polynomial fitting method; determining the optimal coefficients using the least squares criterion to make the polynomial curve best approximate the given data points. This method can effectively extract data trends, suppress noise interference, and obtain a smooth fitting model.

9. The method for simulating the offline stiffness of superconducting electric suspension across the entire velocity domain according to claim 6, characterized in that, The calculation of the electromagnetic force required for the simulated stiffness includes the following steps: Calculating the electromagnetic levitation stiffness of the simulated superconducting electric levitation system at different operating speeds based on the Biot-Saffar law; establishing a six-degree-of-freedom model of electromagnetic-motion coupling based on the analytical electromagnetic force model, and calculating the real-time electromagnetic force required by the levitation platform according to the real-time feedback position. Electromagnetic force calculation process: In the formula: R is the loop resistance of the zero flux coil; i n,k and e n,k Let K be the current and induced voltage of the k-th loop of the nth zero-flux coil (k = 1, 2, 3, 4); solve for the magnetic field using Biot-Savart's law of current flowing through it. In the formula: μ0 is the vacuum permeability; I is the current; dl is the line element of the coil; r is the vector from the line element to the field point; r is the distance from the line element to the field point; the electromagnetic force and electromagnetic torque on the superconducting coil are calculated according to the Ampere force formula, and the electromagnetic force and electromagnetic torque on the suspension frame are solved by the Biot-Savart law; In the formula: I sc dl represents the superconducting coil current. sc B is a line element of a superconducting coil. lev_sc The spatial magnetic field of the zero flux coil at the superconducting coil element; r sc dF is the vector from the superconducting coil element to the center of mass of the suspension frame; lev_sc The electromagnetic stiffness, calculated from the electromagnetic force and displacement, is the levitation force acting on the superconducting coil element, as shown below: The test bench current can be obtained by fitting the electromagnetic stiffness with the polynomial model of the electromagnetic force of the test bench as described above.

10. The method for simulating the offline stiffness of superconducting electric suspension across the entire velocity domain according to claim 6, characterized in that, The simulated stiffness suspension control current includes the following steps: based on the electromagnetic force required for simulated stiffness and the electromagnetic force model of the test platform, the ground coil is calculated as the reference current; the damping additional term is set according to the attitude change rate of the suspension platform; and the actual converter output current is determined by comprehensive weighting. The simulation system stiffness aims to ensure that the stiffness of the integrated electromagnetic test platform matches that of the test line by adjusting the coil current in real time. It is assumed that the suspension stiffness of the test line is constant at a fixed velocity, as shown below: F mlv =k i ·i+k x ·x=k con ·x Where kcon is the constant stiffness at the corresponding speed; by adjusting the current of the ground coil, the electromagnetic force on the suspension frame is the same as the stiffness force required under the constant stiffness, thus simulating the suspension characteristics of the vehicle body at different speeds and different stiffnesses. To increase system stability, a damping term is added. The modified expression is shown below: F mlv =k i ·i+k x ·x+c x ·v The damping additional term is set according to the attitude change rate of the suspended platform, and the actual converter output current is determined by comprehensive weighting. The simulated stiffness verification includes the following steps: by exciting the ground module, the vibration displacement parameters of the suspended platform under different equivalent stiffnesses are detected and the natural frequency of vibration is analyzed; the equivalent stiffness of the current suspension control of the test platform is calculated by using the natural frequency and the mass of the suspension test platform.

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