Moving platform electromechanical system position control simulation test bed and its twin tube control method

Abstract

The application relates to a moving platform electromechanical system position control simulation test bench and a twinborn control method thereof, and belongs to the technical fields of motion simulation, electromechanical servo control and digital twinborn technology. The system comprises a hardware system and a twinborn control system. The hardware system comprises a motion platform simulation device, a data acquisition device, a multi-degree-of-freedom coupled electromechanical system simulation device and an electrical control device. The twinborn control system is built in the electrical control device and comprises a data processing and visualization module, a motion loading module and a posture decoupling and correction module. Real-time mapping of the hardware system and a digital twinborn body, posture decoupling and joint position correction quantity generation are realized through a bidirectional data channel, and a closed-loop virtual-real mutual mapping process is formed. The application reproduces basic motion excitation, multi-axis motion coupling and multi-load coupling effects in a laboratory environment, and provides a high-fidelity, low-cost and repeatable test platform for control algorithm verification and performance testing.

Description

Technical Field

[0001] This application relates to the fields of motion simulation, electromechanical servo control and digital twin technology, and in particular to a position control simulation test bench for electromechanical systems on a moving platform and its twin control method. Background Technology

[0002] In fields such as shipborne equipment, vehicle-mounted equipment, aerospace, and robotics, complex mechanisms with multi-degree-of-freedom electromechanical systems supported by motion platforms are becoming increasingly common. Examples include shipborne artillery, wave-compensated gangways, vehicle-mounted radar, flight simulators, and multi-joint robots. Their commonality lies in the fact that the basic motion platform provides multi-degree-of-freedom spatial motion excitation, while the multi-degree-of-freedom actuators installed on the platform need to complete high-precision pointing, tracking, or load operations under dynamic disturbances.

[0003] However, the dynamic disturbances of the motion platform (such as roll, pitch, and heave caused by waves) coupled with the strong nonlinearities of the upper multi-degree-of-freedom actuators (such as inertia matching, torque transmission, gear backlash, and nonlinear friction) make dynamic modeling and control verification of such systems highly challenging. While pure numerical simulation can provide a preliminary analysis of system characteristics, it struggles to accurately simulate real nonlinear coupling, time-varying loads, and environmental disturbances. Consequently, simulation results often deviate significantly from the actual system, leading to low simulation reliability and making them unsuitable for direct engineering verification of control algorithms. Directly constructing a full-scale physical prototype for testing not only results in a long development cycle and high manufacturing costs but also makes prototype modification difficult once the design is altered, failing to meet the general testing requirements for various operating conditions and mechanisms.

[0004] Therefore, there is an urgent need for an experimental platform that can realistically simulate complex coupled dynamic behaviors and achieve rapid verification of control algorithms, real-time monitoring of system status, evaluation of control performance, and feedback calibration at a low cost. Summary of the Invention

[0005] This application provides a simulation test bench for the position control of an electromechanical system on a moving platform, which solves the problems of insufficient position control accuracy, high R&D testing risk, and weak condition monitoring capability of the prior art under dynamic coupling conditions between the moving platform and the multi-degree-of-freedom electromechanical system. Another objective of this application is to provide a twin control method for the simulation test bench for the position control of an electromechanical system on a moving platform.

[0006] To achieve the above objectives, according to a first aspect of this application, a simulation test bench for position control of an electromechanical system on a moving platform is provided, comprising a hardware system and a twin control system, wherein: The hardware system includes a motion platform simulation device, a data acquisition device, a multi-degree-of-freedom coupled electromechanical system simulation device, and an electrical control device. The motion platform simulation device includes a six-degree-of-freedom platform and a platform controller. The platform controller controls the motion of the six-degree-of-freedom platform according to basic motion excitation commands to apply basic motion excitation to the multi-degree-of-freedom coupled electromechanical system simulation device located on the six-degree-of-freedom platform. The multi-degree-of-freedom coupled electromechanical system simulation device includes an azimuth adjustment mechanism and a pitch adjustment mechanism. The azimuth adjustment mechanism can rotate around the azimuth axis and introduce changes in channel load characteristics within the azimuth channel. The pitch adjustment mechanism can swing around the pitch axis and introduce changes in channel load characteristics and auxiliary support within the pitch channel. The data acquisition device collects the operating status information of the six-degree-of-freedom platform, the azimuth channel, and the pitch channel. The twin control system is built into the electrical control device and communicates bidirectionally with the hardware system. The twin control system includes a data processing and visualization module, a motion loading module, and an attitude decoupling and correction module. The data processing and visualization module processes, stores, and visualizes real-time data and drives the synchronous update of the 3D virtual model. The motion loading module generates basic motion excitation commands and sends them to the platform controller. The attitude decoupling and correction module solves for the desired joint state and generates joint position corrections based on hardware feedback and basic motion excitation information.

[0007] In some embodiments, the orientation adjustment mechanism includes a base plate, a seat ring, an orientation transmission pinion, an orientation motor, an orientation magnetic powder brake, and an orientation rotational inertia disk assembly, wherein: The base plate is connected to the motion platform simulation device; The seat ring is rotatably mounted on the base plate, and a pitch adjustment mechanism is connected to the side of the seat ring away from the motion platform simulation device; The azimuth transmission pinion is sleeved on the output end of the azimuth motor and meshes with the seat ring, so that the azimuth motor is connected to the seat ring and drives the seat ring and the pitch adjustment mechanism to move around the azimuth direction. The output end of the azimuth magnetic powder brake is connected to the seat ring drive so that the braking torque generated by the azimuth magnetic powder brake acts on the azimuth rotation motion of the seat ring. The drive end of the azimuth rotation inertia disk assembly is connected to the seat ring drive, so that the rotational inertia of the azimuth rotation inertia disk assembly is superimposed on the azimuth rotational motion of the seat ring.

[0008] In some embodiments, the pitch adjustment mechanism includes a bracket, a rotating shaft, an arc rack, a pitch motor, a pitch transmission pinion, a pitch magnetic powder brake, and a pitch inertia disk assembly, wherein: The bracket is connected to the side of the seat ring away from the motion platform simulation device and can rotate with the seat ring in orientation; The rotating shaft is rotatably connected to the bracket; The inner end of the arc-shaped rack is connected to the rotating shaft, and the outer end of the arc-shaped rack extends toward the motion platform simulation device; The pitch motor is mounted on a bracket; The pitch drive pinion is sleeved on the output end of the pitch motor and meshes with the arc rack, so that the pitch motor is connected to the arc rack and drives the rotating shaft to make pitch direction adjustment movements. The output end of the pitch magnetic powder brake is connected to the rotating shaft drive so that the braking torque generated by the pitch magnetic powder brake acts on the pitch rotation motion of the rotating shaft. The transmission end of the pitch inertia disk assembly is connected to the rotating shaft, so that the rotational inertia of the pitch inertia disk assembly is superimposed on the pitch rotation motion of the rotating shaft.

[0009] In some embodiments, the pitch adjustment mechanism further includes an electric cylinder and a mounting base, the mounting base being fixedly connected to the rotating shaft, the cylinder body end of the electric cylinder being connected to the bracket, and the output end of the electric cylinder being connected to the mounting base.

[0010] In some embodiments, the electrical control device includes a host computer and a slave computer. The host computer is used for inputting test parameters, motion decoupling, nonlinear approximation, calculating joint position corrections, issuing basic motion excitation commands, monitoring status, displaying curves, and storing data. The slave computer is used to receive joint position corrections and load settings from the host computer, and to perform real-time control and safety limit on the servo drivers, encoders, azimuth magnetic powder brakes, and pitch magnetic powder brakes corresponding to the azimuth and pitch motors. The six-degree-of-freedom platform is controlled by a platform controller. The lower-level machine can receive motion control quantities and load settings sent by the upper-level machine, and output commands to the azimuth motor and pitch motor so that the azimuth adjustment mechanism and pitch adjustment mechanism can perform follow-up actions according to the target angle. The lower-level computer also converts the load control quantity into an analog signal through a digital-to-analog converter module, and drives the azimuth magnetic powder brake and pitch magnetic powder brake through a power amplifier to generate a preset braking torque.

[0011] In some embodiments, the data processing and visualization module is connected to the data acquisition device, platform controller, lower-level machine, database, motion loading module and attitude decoupling and correction module respectively through communication interfaces; The data processing and visualization module includes a data preprocessing unit, a 3D visualization unit, and a monitoring dashboard unit. The data preprocessing unit is used to parse, timestamp-align, remove outliers, perform median filtering and moving average filtering, coordinate transformation, unit conversion, and storage of real-time data. The 3D visualization unit is used to construct 3D virtual models corresponding to the motion platform simulation device, azimuth adjustment mechanism, and pitch adjustment mechanism, and drive their synchronous movement. The monitoring dashboard unit is used to display equipment status, operating parameters, motion curves, target pointing, tracking error, test conditions, and alarm information through the equipment layer, parameter layer, and system layer.

[0012] In some embodiments, the motion loading module includes a step excitation unit, a harmonic excitation unit, a wave excitation unit, and a motion calculation unit; The step excitation unit is used to generate the step target pose time history based on the step degrees of freedom, step amplitude, step time, initial pose and hold time set by the user. The simple harmonic excitation unit is used to generate the simple harmonic target pose time history based on the set motion degrees of freedom, motion amplitude, motion frequency, initial phase and duration; The wave excitation unit is used to reconstruct the swaying motion time history of the carrier under the action of random waves based on the target sea state, carrier speed, carrier heading and wave propagation direction. The motion calculation unit is used to generate basic motion excitation commands for the six-degree-of-freedom platform based on the target pose trajectory, and send the basic motion excitation commands to the platform controller, which then controls the six-degree-of-freedom platform to generate the corresponding basic motion excitations.

[0013] In some embodiments, the attitude decoupling and correction module includes a motion decoupling unit, a nonlinear approximation unit, and a control calculation unit; The motion decoupling unit is used to establish the kinematic relationship between the motion platform simulation device, the azimuth adjustment mechanism, and the pitch adjustment mechanism based on the basic motion state and target pointing information of the motion platform simulation device. It solves for the desired joint angles required for the azimuth and pitch adjustment mechanisms to maintain the target pointing and obtains the desired joint angular velocity based on the time history of the desired joint angle. The desired joint angle and the desired joint angular velocity together constitute the desired joint state. The actual joint state includes the actual joint angle and the actual joint angular velocity. The actual joint angle is collected by the azimuth angle sensor and the pitch angle sensor, and the actual joint angular velocity is obtained by differential and filtering processing of the joint angle time history collected by the azimuth angle sensor and the pitch angle sensor. The nonlinear approximation unit uses a neural network to approximate the total nonlinear term formed by parameter perturbation, friction, transmission clearance, inertia change and load coupling online according to the actual joint state and the expected joint state, and updates the network weights according to the tracking error. The control calculation unit is used to generate joint position correction values ​​for the azimuth adjustment mechanism and the pitch adjustment mechanism based on the expected joint state, the actual joint state, and the estimation results of the total nonlinear term using modern control methods. The correction values ​​are then sent from the host computer to the slave computer, which adds the joint position correction values ​​to the corresponding expected joint angles to form the final joint position command that can be executed by the corresponding servo driver.

[0014] A second aspect of this application provides a twin management method for a position control simulation test bench for an electromechanical system on a moving platform, implemented based on the position control simulation test bench for an electromechanical system on a moving platform as described in any of the above claims. The twin management method includes the following steps: S100. Twin Construction and System Initialization: In the host computer of the electrical control device, establish digital twins corresponding to the motion platform simulation device, azimuth adjustment mechanism, pitch adjustment mechanism, data acquisition device, and slave computer, and configure geometric models, physical models, behavioral models, rule models, and communication interfaces; perform initial state calibration on the motion platform simulation device, azimuth adjustment mechanism, and pitch adjustment mechanism. S200, Test Parameter Setting and Basic Motion Excitation Generation: Input the target orientation, basic motion excitation type, excitation parameters and load parameters into the twin control system. The motion loading module generates multiple types of excitations such as step excitation, simple harmonic excitation, and wave excitation according to the test requirements. It generates basic motion excitation instructions based on the target pose and sends the basic motion excitation instructions to the platform controller. S300, Physical Side Excitation and Load Execution: The platform controller controls the six-degree-of-freedom platform to generate basic motion excitation according to the basic motion excitation command; the lower computer outputs the corresponding excitation current or torque command according to the load setting value of the azimuth magnetic powder brake of the azimuth adjustment mechanism and the pitch magnetic powder brake of the pitch adjustment mechanism. The azimuth adjustment mechanism and the pitch adjustment mechanism perform tracking actions under the control of the corresponding servo driver. S400, Operation Status Acquisition and Data Preprocessing: The data acquisition device acquires the roll angle, pitch angle, and yaw angle of the six-degree-of-freedom platform in the absolute coordinate system through the first dynamic tilt sensor, the pitch angle and yaw angle of the end effector in the absolute coordinate system through the second dynamic tilt sensor, the actual azimuth joint angle of the azimuth adjustment mechanism relative to the six-degree-of-freedom platform through the azimuth angle sensor, the actual pitch joint angle of the pitch adjustment mechanism relative to the support through the pitch angle sensor, and the total transmitted torque of the azimuth channel and the total transmitted torque of the pitch channel through the azimuth torque sensor and the pitch torque sensor, respectively; the lower-level machine and the corresponding servo driver feed back the actuator status data; the data processing and visualization module parses the above data, timestamps are aligned, outliers are removed, median filtering and moving average filtering are performed, coordinate transformation is performed, unit conversion is performed, and the data is stored to form a real-time dataset for digital twin updates, attitude decoupling, end effector motion status evaluation, and closed-loop control calculation; S500, virtual-real synchronization and visual control: The data processing and visualization module updates the three-dimensional virtual models corresponding to the motion platform simulation device, azimuth adjustment mechanism and pitch adjustment mechanism according to real-time data, and displays the operating status, motion curve, target pointing, tracking error, test conditions and control mode through the equipment layer, parameter layer and system layer monitoring dashboard, realizing real-time mapping from physical to virtual. S600, Attitude Decoupling and Correction Control: The attitude decoupling and correction module, based on the target orientation, basic motion excitation information, and current hardware feedback state, uses the motion decoupling unit to solve for the desired joint angles of the azimuth and pitch adjustment mechanisms, and calculates the desired joint angular velocity based on the time history of the desired joint angles. The actual joint angles are collected by the azimuth and pitch angle sensors, and the actual joint angular velocity is obtained by differential and filtering processing of the joint angle time histories collected by the azimuth and pitch angle sensors. The nonlinear approximation unit uses a neural network to estimate the total nonlinear term of the system online. The control solution unit uses modern control methods to generate the joint position correction amount based on the desired joint state, the actual joint state, and the estimation results of the total nonlinear term. S700, Control Command Issuance and Feedback Calibration: The host computer sends the joint position correction amount to the slave computer. The slave computer limits and verifies the safety status of the joint position correction amount, and superimposes it with the corresponding expected joint angle to form the final joint position command that can be executed by the corresponding servo driver. The physical execution result is fed back to the data processing and visualization module and the attitude decoupling and correction module through the data acquisition device to form a closed-loop control process.

[0015] In some embodiments, in step S600, the motion decoupling unit obtains the desired joint angle by solving forward and inverse kinematics, and calculates the desired joint angular velocity based on the time history of the desired joint angle; the actual joint angle is collected by the azimuth angle sensor and the pitch angle sensor, and the actual joint angular velocity is obtained by differential and filtering processing of the joint angle time history collected by the azimuth angle sensor and the pitch angle sensor; the nonlinear approximation unit estimates the nonlinear dynamics using an online approximation method; the control solution unit calculates the joint position correction using modern control methods, and performs smoothing processing in the robustness term to suppress control input chattering.

[0016] This application has the following beneficial effects: The motion platform electromechanical system position control simulation test bench of this application embodiment includes a hardware system and a digital twin control system. The hardware system includes a motion platform simulation device, a data acquisition device, a multi-degree-of-freedom coupled electromechanical system simulation device, and an electrical control device. The digital twin control system is built into the electrical control device and communicates bidirectionally with the hardware system. The digital twin control system includes a data processing and visualization module, a motion loading module, and an attitude decoupling and correction module. Through a bidirectional data channel, it realizes real-time mapping between the hardware system and the digital twin, attitude decoupling, and joint position correction generation, forming a closed-loop virtual-real mutual mapping process. This application uses a motion platform simulation device... As a basic motion excitation loading device, and with a multi-degree-of-freedom coupled electromechanical system simulation device installed on the motion platform simulation device, the basic motion excitation, the multi-axis motion coupling effect of the multi-degree-of-freedom coupled electromechanical system simulation device, and its simulated multi-load coupling effect are comprehensively reproduced in a laboratory environment. This overcomes the shortcomings of existing simulation test devices that are oversimplified and cannot accurately reflect the actual working state of the tested system. It provides a low-cost, high-fidelity, and repeatable technical approach for dynamic characteristic analysis and position control performance testing of multi-degree-of-freedom coupled electromechanical systems before full physical testing, and can effectively reduce the development cost and technical risks of related equipment.

[0017] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0020] Figure 1This is a block diagram of the overall composition of the electromechanical system position control simulation test bench on the moving platform of the present invention; Figure 2 This is a schematic diagram of the overall structure of the multi-degree-of-freedom coupled electromechanical system simulation device of the present invention from one angle; Figure 3 This is a schematic diagram of the overall structure of the multi-degree-of-freedom coupled electromechanical system simulation device of the present invention from another angle; Figure 4 This is a schematic diagram of the orientation adjustment mechanism of the present invention; Figure 5 This is a schematic diagram of the pitch adjustment mechanism of the present invention; Figure 6 This is a schematic diagram of the overall architecture of the electrical control device of the present invention; Figure 7 This is a schematic diagram of the control principle of the attitude decoupling and correction module of the present invention; Figure 8 This is a flowchart of the twin control method of the present invention.

[0021] Explanation of reference numerals in the attached figures: 1. Motion platform simulation device; 11. Six-degree-of-freedom platform; 12. Platform controller; 2. Data acquisition device; 21. First dynamic tilt sensor; 22. Second dynamic tilt sensor; 23. Azimuth angle sensor; 24. Pitch angle sensor; 25. Azimuth torque sensor; 26. Pitch torque sensor; 3. Multi-degree-of-freedom coupled electromechanical system simulation device; 31. Azimuth adjustment mechanism; 311. Seat ring; 312. Azimuth transmission pinion; 313. Base plate; 314. Azimuth magnetic powder brake; 315. Azimuth rotational inertia disk assembly; 316. Azimuth motor; 32. Pitch adjustment mechanism; 321. Pitch magnetic powder brake; 322. Rotating shaft; 323. Pitch rotational inertia disk assembly; 324. Arc rack; 325. Pitch transmission pinion; 326. Bracket; 327. Pitch motor; 328. Electric cylinder; 329. Mounting base; 4. Electrical control device; 41. Host computer; 42. Subordinate computer; 5. Data processing and visualization module; 6. Motion loading module; 7. Attitude decoupling and correction module. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0023] In the description of this application, it should be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two elements or an interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances. Furthermore, although the terms "first," "second," etc., may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another. Therefore, the first component discussed below may be referred to as the second component without departing from the teachings of this application. As used herein, the term "and / or" includes all combinations of any one and more of the associated listed items.

[0024] In the description of this application, "multiple" means two or more, and "at least one" means one, two, or more, unless otherwise explicitly specified. In the description of this application, "perpendicular" means completely perpendicular to 90° or nearly completely perpendicular, for example, an angle of 80° to 100° is considered perpendicular. Similarly, "parallel" means completely parallel or nearly completely parallel, for example, a perfectly parallel angle of 10° is considered parallel.

[0025] The following disclosure provides many different implementations or examples for carrying out different structures of this application. To simplify the disclosure of this application, the components and arrangements of specific examples are described below. Of course, these are merely examples and are not intended to limit this application.

[0026] According to the first aspect of this application, please refer to Figure 1 , Figure 2 , Figure 3, Figure 4 , Figure 5 , Figure 6 and Figure 7 This embodiment provides a motion platform electromechanical system position control simulation test bench. The motion platform electromechanical system position control simulation test bench includes a hardware system and a twin control system. The hardware system includes a motion platform simulation device 1, a data acquisition device 2, a multi-degree-of-freedom coupled electromechanical system simulation device 3, and an electrical control device 4. The twin control system includes a data processing and visualization module 5, a motion loading module 6, and an attitude decoupling and correction module 7.

[0027] The motion platform simulation device 1 includes a six-degree-of-freedom platform 11 and a platform controller 12. The six-degree-of-freedom platform 11 generates spatial six-degree-of-freedom basic motion excitation and applies this excitation to the multi-degree-of-freedom coupled electromechanical system simulation device 3 mounted on the six-degree-of-freedom platform 11. The platform controller 12 controls the movement of the six-degree-of-freedom platform 11 according to the basic motion excitation command, so as to apply the basic motion excitation to the multi-degree-of-freedom coupled electromechanical system simulation device 3 located on the six-degree-of-freedom platform 11. The multi-degree-of-freedom coupled electromechanical system simulation device 3 is used to form a position adjustment condition with azimuth and pitch coupling under the action of basic motion excitation. The multi-degree-of-freedom coupled electromechanical system simulation device 3 includes an azimuth adjustment mechanism 31 and a pitch adjustment mechanism 32. The azimuth adjustment mechanism 31 can rotate around the azimuth axis and introduce changes in channel load characteristics within the azimuth channel, including changes in load, damping, and inertia. The pitch adjustment mechanism 32 can pitch and oscillate around the pitch axis and introduce changes in channel load characteristics and auxiliary support within the pitch channel. Data acquisition device 2 collects the operating status information of the six-DOF platform 11, the azimuth channel, and the pitch channel. The operating status information includes the servo attitude, joint angles, total transmitted torque of the azimuth channel, and total transmitted torque of the pitch channel; that is, data acquisition device 2 collects the attitude, angle, and total transmitted torque status of the above components. Electrical control device 4 is used to receive test commands, output control commands, and complete status feedback and safety protection during operation.

[0028] The aforementioned twin control system is built into the electrical control device 4 and communicates bidirectionally with the hardware system. The data processing and visualization module 5 processes, stores, and visualizes real-time data, and drives the synchronous update of the 3D virtual model; the motion loading module 6 generates basic motion excitation commands and sends them to the platform controller 12; the attitude decoupling and correction module 7 solves for the desired joint state and generates joint position corrections based on hardware feedback and basic motion excitation information. It should be noted that the hardware feedback includes attitude, angle, and total transmitted torque data collected by various sensors in the data acquisition device 2; the basic motion excitation information comes from the target pose time history generated by the motion loading module 6.

[0029] As can be seen from the above technical solution, this embodiment uses a six-degree-of-freedom platform 11 as the basic motion excitation loading device, and installs a multi-degree-of-freedom coupled electromechanical system simulation device 3 on the six-degree-of-freedom platform 11. In a laboratory environment, it comprehensively reproduces the basic motion excitation of the motion platform, the multi-axis motion coupling effect between the orientation adjustment mechanism 31 and the pitch adjustment mechanism 32, and overcomes the shortcomings of existing simulation test devices that are overly simplified and cannot accurately reflect the actual working state of the tested system.

[0030] In some embodiments, please refer to Figure 2 , Figure 3 , Figure 4 and Figure 5 The aforementioned orientation adjustment mechanism 31 includes a base plate 313, a seat ring 311, an orientation transmission pinion 312, an orientation motor 316, an orientation magnetic powder brake 314, and an orientation rotational inertia disk assembly 315. The base plate 313 is connected to the motion platform simulation device 1. Specifically, the base plate 313 is fixed to the six-degree-of-freedom platform 11, serving as the mounting base for the multi-degree-of-freedom coupled electromechanical system simulation device 3. The seat ring 311 is rotatably mounted on the base plate 313, meaning it is mounted on the base plate 313 and can rotate relative to it. A pitch adjustment mechanism 32 is connected to the side of the seat ring 311 facing away from the six-degree-of-freedom platform 11. The orientation transmission pinion 312 is sleeved on the output end of the orientation motor 316 and meshes with the seat ring 311. The azimuth motor 316 is located on the side of the base plate 313 away from the seat ring 311. It is connected to the seat ring 311 through the azimuth transmission pinion 312 so that the seat ring 311 and the pitch adjustment mechanism 32 can move around the azimuth direction.

[0031] Both the azimuth magnetic powder brake 314 and the azimuth rotational inertia disk assembly 315 are disposed on the side of the base plate 313 opposite to the seat ring 311. The output end of the azimuth magnetic powder brake 314 is drivenly connected to the seat ring 311 so that the braking torque generated by the azimuth magnetic powder brake 314 acts on the azimuth rotational motion of the seat ring 311. The drive end of the azimuth rotational inertia disk assembly 315 is drivenly connected to the seat ring 311 so that the rotational inertia of the azimuth rotational inertia disk assembly 315 is superimposed on the azimuth rotational motion of the seat ring 311. The azimuth magnetic powder brake 314 generates an adjustable torque according to the load control command output by the electrical control device 4, which is used to simulate friction and damping in the azimuth direction. The azimuth rotational inertia disk assembly 315 cooperates with the azimuth movement of the seat ring 311 to change the equivalent rotational inertia in the azimuth direction. Through the cooperation of the azimuth motor 316, the azimuth transmission pinion 312, the seat ring 311, the azimuth magnetic powder brake 314, the magnetic powder brake transmission gear, the rotational inertia disk transmission gear, and the azimuth rotational inertia disk assembly 315, the azimuth adjustment mechanism 31 can simultaneously realize azimuth motion input and load application.

[0032] Specifically, the mounting surface of the base plate 313 is fixedly connected to the six-degree-of-freedom platform 11, and the rotation center of the seat ring 311 is aligned with the azimuth axis of the azimuth adjustment mechanism 31. A azimuth transmission pinion 312, a magnetic powder brake transmission gear, and a moment of inertia disk transmission gear are arranged circumferentially around the seat ring 311, all of which maintain stable meshing with the seat ring 311. The azimuth motor 316 is fixedly connected to the six-degree-of-freedom platform 11, and its output end is connected to the azimuth transmission pinion 312 via an azimuth reducer. The meshing of the azimuth transmission pinion 312 with the seat ring 311 drives the seat ring 311 and the pitch adjustment mechanism 32 mounted on the seat ring 311 to move around the azimuth direction. The output end of the azimuth magnetic powder brake 314 is connected to the magnetic powder brake transmission gear. The meshing of the magnetic powder brake transmission gear with the seat ring 311 transmits the braking torque generated by the azimuth magnetic powder brake 314 to the azimuth rotational motion of the seat ring 311. The transmission end of the azimuth rotational inertia disk assembly 315 is connected to the rotational inertia disk transmission gear. The meshing of the rotational inertia disk transmission gear with the seat ring 311 enables the azimuth rotational inertia disk assembly 315 to participate in the azimuth transmission link of the seat ring 311. The rotational inertia of the azimuth rotational inertia disk assembly 315 is superimposed on the azimuth rotational motion of the seat ring 311 through the rotational inertia disk transmission gear, thereby realizing the simulation of inertia change and load disturbance of the azimuth channel.

[0033] Please see Figure 2 and Figure 4The pitch adjustment mechanism 32 includes a bracket 326, a rotating shaft 322, an arc-shaped rack 324, a pitch motor 327, a pitch transmission pinion 325, a pitch magnetic powder brake 321, and a pitch inertia disk assembly 323. The bracket 326 is connected to the side of the seat ring 311 facing away from the motion platform simulation device 1 and can rotate with the seat ring 311. The rotating shaft 322 is mounted on the bracket 326 and rotatably connected to it, forming a rotational support in the pitch direction. The inner end of the arc-shaped rack 324 is connected to the rotating shaft 322, and the outer end of the arc-shaped rack 324 extends towards the motion platform simulation device 1. The center of the arc-shaped rack 324 is aligned with the axis of the rotating shaft 322. The inner and outer ends of the arc-shaped rack 324 are relative to the center of the imaginary circle containing the arc-shaped rack 324; the end closer to the center is called the inner end, and the end farther from the center is called the outer end. A pitch motor 327 is mounted on a bracket 326. A pitch transmission pinion 325 is fitted onto the output end of the pitch motor 327 and meshes with an arc-shaped rack 324, thus enabling the pitch motor 327 and the arc-shaped rack 324 to drive each other. This transmits the output motion of the pitch motor 327 to the arc-shaped rack 324 and the rotating shaft 322, thereby causing the pitch adjustment mechanism 32 to perform pitch direction adjustment motion. Specifically, the output end of the pitch motor 327 is driven by a pitch reducer and connected to the pitch transmission pinion 325. The pitch transmission pinion 325 meshes with the arc-shaped rack 324, and the meshing position of the pitch transmission pinion 325 and the arc-shaped rack 324 meets the motion range requirements of the pitch adjustment mechanism 32. The output end of the pitch magnetic powder brake 321 is connected to the rotating shaft 322, so that the braking torque generated by the pitch magnetic powder brake 321 acts on the pitch rotation motion of the rotating shaft 322. The pitch magnetic powder brake 321 is used to generate an adjustable torque in the pitch direction according to the load control command output by the electrical control device 4, and the pitch moment of inertia disk assembly 323 is used to change the equivalent moment of inertia in the pitch direction. The transmission end of the pitch moment of inertia disk assembly 323 is connected to the rotating shaft 322 so that the moment of inertia of the pitch moment of inertia disk assembly 323 is superimposed on the pitch rotation motion of the rotating shaft 322.

[0034] It should be noted that a mounting base 329 is fitted onto the rotating shaft 322, and the mounting base 329 is fixedly connected to the rotating shaft 322. An end effector component for simulating experiments is mounted on the side of the mounting base 329 opposite to the rotating shaft 322, and the arc-shaped rack 324 is fixedly connected to the mounting base 329. The orientation adjustment mechanism 31 and the pitch adjustment mechanism 32 are used to adjust the end effector component mounted on the mounting base 329, adjusting the spatial position of the end effector component to a preset position.

[0035] As can be seen from the above technical solution, in this embodiment, the azimuth magnetic powder brake 314, the pitch magnetic powder brake 321, the azimuth rotational inertia disk assembly 315, and the pitch rotational inertia disk assembly 323 participate in the transmission links of the azimuth channel and the pitch channel through the corresponding azimuth transmission pinion 312 and the rotating shaft 322, respectively. On the basis of the basic motion excitation loading, the independent adjustment and joint simulation of load, damping, and inertia changes in the azimuth channel and the pitch channel are further realized. This allows the multi-degree-of-freedom coupled electromechanical system simulation device 3 to reproduce the inertia matching, torque transmission, and multi-load coupling effect of the azimuth and pitch dual channels while moving with the six-degree-of-freedom platform 11. Thus, under laboratory conditions, it more accurately approximates the working state of actual equipment under dynamic disturbance, further improving the fidelity of the simulation test and its engineering reference value.

[0036] In some embodiments, please refer to Figure 2 , Figure 3 , Figure 4 and Figure 5 The pitch adjustment mechanism 32 also includes an electric cylinder 328 and a mounting base 329. The mounting base 329 is fixedly connected to the rotating shaft 322. The cylinder body end of the electric cylinder 328 is connected to the bracket 326, and the output end of the electric cylinder 328 is connected to the mounting base 329. The electric cylinder 328 drives the mounting base 329 to rotate, thereby causing the rotating shaft 322 to rotate, thus finely adjusting the pitch position of the end effector mounted on the mounting base 329.

[0037] It should be noted that, due to the significant impact of large inertia equipment on the device during movement, a support mechanism is required to ensure the stability and safety of the system operation. In this embodiment, the electric cylinder 328 serves as this support mechanism. Its cylinder end is fixed to the bracket 326, and its output end acts on the mounting base 329. During the pitch adjustment mechanism 32's azimuth rotation with the seat ring 311 and the pitch motor 327's driving shaft 322's pitch movement, the electric cylinder 328 provides auxiliary support for the shaft 322 and the mounting base 329. Furthermore, it introduces adjustable damping in the pitch direction to simulate the resistance and buffering effect in actual working conditions. In addition, by sending control commands to the electric cylinder 328 via the host computer 41 of the electrical control device 4, the electric cylinder 328 can actively adjust its output force to achieve precise fine-tuning of the mounting base 329's attitude. This ensures that the end effector component mounted on the mounting base 329 can accurately align with the target position, effectively improving the position control accuracy of the pitch channel. The electric cylinder 328 cooperates with the bracket 326 and the mounting base 329 that moves with the rotating shaft 322 to provide auxiliary support, cushioning and resistance simulation during pitching motion.

[0038] In this embodiment, through the combined action of the pitch motor 327, pitch transmission pinion 325, arc rack 324, rotating shaft 322, pitch magnetic powder brake 321, pitch rotation inertia disk assembly 323 and electric cylinder 328, the pitch adjustment mechanism 32 can complete pitch adjustment and load simulation while rotating with the seat ring 311.

[0039] In some embodiments, please refer to Figure 1 The data acquisition device 2 includes a first dynamic tilt sensor 21, a second dynamic tilt sensor 22, an azimuth angle sensor 23, a pitch angle sensor 24, an azimuth torque sensor 25, and a pitch torque sensor 26.

[0040] The first dynamic tilt sensor 21 is mounted on the six-degree-of-freedom platform 11 and is used to collect the roll angle, pitch angle and yaw angle of the six-degree-of-freedom platform 11. The first dynamic tilt sensor 21 is a single sensor and simultaneously outputs three signals: roll angle, pitch angle and yaw angle.

[0041] The second dynamic tilt sensor 22 is mounted on the mounting base 329 and is used to collect the pitch and yaw angles of the end effector in the absolute coordinate system. The azimuth sensor 23 is mounted coaxially on the seat ring 311 and is used to collect the actual azimuth joint angle of the azimuth adjustment mechanism 31 relative to the six-degree-of-freedom platform 11. The pitch angle sensor 24 is mounted on the end of the rotating shaft 322 and is used to collect the actual pitch joint angle of the pitch adjustment mechanism 32 relative to the support 326.

[0042] An azimuth torque sensor 25 is positioned between the azimuth drive pinion 312 and the azimuth reducer to collect the total transmitted torque of the azimuth channel. A pitch torque sensor 26 is positioned between the pitch drive pinion 325 and the pitch reducer to collect the total transmitted torque of the pitch channel.

[0043] The data acquisition device 2 can continuously obtain the operating status of the hardware system when the six-degree-of-freedom platform 11 generates basic motion excitation, the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32 perform coupled motion, and the azimuth magnetic powder brake 314 and the pitch magnetic powder brake 321 apply load.

[0044] In some embodiments, please refer to Figure 1The electrical control device 4 includes a host computer 41 and a slave computer 42, employing a distributed control architecture where the host computer 41 and slave computer 42 work together. The host computer 41 is a computer used for interface design, motion compensation calculation, test parameter input, motion decoupling, nonlinear approximation, basic motion excitation command issuance, status monitoring, curve display, and test data storage. The slave computer 42 receives joint position corrections and load settings from the host computer 41, and performs real-time control and safety limit functions for the servo drive, encoder, azimuth magnetic powder brake 314, and pitch magnetic powder brake 321. Specifically, it directly controls the servo drive, encoder, magnetic powder brake, and their feedback elements, and undertakes real-time motion calculation, control program execution, and safety limit functions such as overload, limit, and emergency stop.

[0045] After receiving the motion control quantity and load setting quantity from the host computer 41, the lower-level computer 42 outputs servo pulse commands to the servo driver corresponding to the azimuth motor 316 and the servo driver corresponding to the pitch motor 327, so that the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32 perform follow-up actions according to the target angle. At the same time, the lower-level computer 42 also converts the load control quantity into an analog signal through a digital-to-analog converter module, and drives the azimuth magnetic powder brake 314 and the pitch magnetic powder brake 321 through a power amplifier to generate a preset braking torque, thereby realizing the load simulation of the azimuth channel and the pitch channel.

[0046] The host computer 41 and the slave computer 42 communicate via a serial communication cable. The serial communication cable has a built-in opto-isolation chip to improve communication stability during long-term online monitoring. The first dynamic tilt sensor 21 is connected to the slave computer 42 through an RS-485 communication interface module. The azimuth magnetic powder brake 314 and the pitch magnetic powder brake 321 are connected to a power amplifier through a digital-to-analog converter module. The digital-to-analog converter module and the power amplifier are respectively connected to the expansion interface of the slave computer 42 and an external power supply.

[0047] In summary, during hardware system operation, the platform controller 12 controls the six-degree-of-freedom platform 11 to generate basic motion excitation, which is then transmitted to the multi-degree-of-freedom coupled electromechanical system simulation device 3 via the base plate 313. The azimuth adjustment mechanism 31 achieves azimuth adjustment through the azimuth motor 316, the azimuth transmission pinion 312, and the seat ring 311. The pitch adjustment mechanism 32 achieves pitch adjustment through the pitch motor 327, the pitch transmission pinion 325, the arc rack 324, and the rotating shaft 322. The azimuth magnetic powder brake 314, the azimuth rotational inertia disk assembly 315, the pitch magnetic powder brake 321, the pitch rotational inertia disk assembly 323, and the electric cylinder 328 together simulate the load, inertia, and support effects. The data acquisition device 2 collects the hardware status in real time and feeds it back to the electrical control device 4, thus forming the physical basis for the position control simulation experiment under complex basic motion excitation.

[0048] In some embodiments, please refer to Figure 1 The twin control system operates in the host computer 41 of the electrical control device 4. Through collaboration between the host computer 41 and the slave computer 42, it establishes a bidirectional data channel with the platform controller 12, the six-degree-of-freedom platform 11, the multi-degree-of-freedom coupled electromechanical system simulation device 3, and the data acquisition device 2. The twin control system uses the real-time operating status of the hardware system as its data foundation, and the digital twins corresponding to the six-degree-of-freedom platform 11, the azimuth adjustment mechanism 31, and the pitch adjustment mechanism 32 as mapping and computational objects. It is used to achieve visualization of operating status, generation of basic motion excitations, virtual-real synchronization, attitude decoupling, control correction, and feedback calibration. The twin control system includes a data processing and visualization module 5, a motion loading module 6, and an attitude decoupling and correction module 7. These three modules together form a closed-loop operating structure of physical perception, twin mapping, attitude decoupling, command correction, and physical execution.

[0049] The data processing and visualization module 5 is connected to the data acquisition device 2, platform controller 12, lower-level machine 42, database, motion loading module 6, and attitude decoupling and correction module 7 via communication interfaces. The data acquisition device 2 uploads hardware status data collected by the first dynamic tilt sensor 21, the second dynamic tilt sensor 22, the azimuth angle sensor 23, the pitch angle sensor 24, the azimuth torque sensor 25, and the pitch torque sensor 26 to the data processing and visualization module 5. The lower-level machine 42 and the servo driver feed back the execution status of the azimuth motor 316, the pitch motor 327, the azimuth magnetic powder brake 314, and the pitch magnetic powder brake 321 to the data processing and visualization module 5. The data processing and visualization module 5 performs parsing, timestamp alignment, outlier removal, median filtering and moving average filtering, coordinate transformation, unit conversion, and storage processing on the above data, and sends the processing results to the motion loading module 6 and the attitude decoupling and correction module 7.

[0050] It should be noted that the database is built using Microsoft SQL Server and is set up on the host computer to store experimental configuration data, raw operating status data, and operating status data after data preprocessing. The test configuration data includes target orientation, basic motion excitation type, basic motion excitation parameters, and load parameters; the original operating status data includes the roll angle, pitch angle, and yaw angle of the six-degree-of-freedom platform 11 in the absolute coordinate system collected by the first dynamic tilt sensor 21; the pitch angle and yaw angle of the end effector simulated component in the absolute coordinate system collected by the second dynamic tilt sensor 22; the actual azimuth joint angle of the azimuth adjustment mechanism 31 relative to the six-degree-of-freedom platform 11 collected by the azimuth angle sensor 23; the actual pitch joint angle of the pitch adjustment mechanism 32 relative to the support 326 collected by the pitch angle sensor 24; and the total transmitted torque of the azimuth channel and the total transmitted torque of the pitch channel collected by the azimuth torque sensor 25 and the pitch torque sensor 26, respectively. The operating status data after data preprocessing is the data formed by the data preprocessing unit parsing, timestamp alignment, outlier removal, median filtering and moving average filtering, coordinate transformation, and unit conversion of the original operating status data.

[0051] The data processing and visualization module 5 includes a data preprocessing unit, a 3D visualization unit, and a monitoring dashboard unit. The data preprocessing unit is used to parse, timestamp-align, remove outliers, perform median filtering and moving average filtering, coordinate transformation, unit conversion, and storage of real-time data. The 3D visualization unit is used to construct 3D virtual models corresponding to the motion platform simulation device 1, the azimuth adjustment mechanism 31, and the pitch adjustment mechanism 32, and drive their synchronous movement; that is, using real-time data to drive the synchronous movement of the 3D virtual model, completing the mapping from physical to virtual. The monitoring dashboard unit is used to display equipment status, operating parameters, motion curves, target direction, tracking error, test conditions, and alarm information through the equipment layer, parameter layer, and system layer, and supports the export of operating data.

[0052] In some embodiments, please refer to Figure 1The motion loading module 6 is connected to the data processing and visualization module 5, the human-machine interface of the host computer 41, and the platform controller 12 via communication interfaces. It generates the target pose trajectory of basic motion excitations according to experimental requirements, generates basic motion excitation commands based on the target pose trajectory, and sends these commands to the platform controller 12. The platform controller 12 controls the movement of the six-degree-of-freedom platform 11 according to the basic motion excitation commands. The motion loading module 6 is used to complete the configuration of basic motion excitations, the generation of target pose time histories, and the issuance of basic motion excitation commands. The motion loading module 6 includes multiple types of excitation generation units, such as step excitation units, harmonic excitation units, and wave excitation units, as well as a motion calculation unit. Step excitation and harmonic excitation are rule-based excitations, used to assess the transient response performance and periodic tracking performance of the system, respectively; wave excitation is a random excitation, used to reproduce the random swaying motion of the carrier under real wave conditions. Multiple degrees of freedom can be configured with different types of target pose time histories simultaneously, thus forming a multi-degree-of-freedom composite basic motion.

[0053] The step excitation unit generates the step target pose time history based on the user-defined step degrees of freedom, step amplitude, step time, initial pose, and hold time. The step degrees of freedom can be at least one of roll, pitch, yaw, lateral sway, longitudinal sway, or heave. Step excitation is used to simulate the motion state of a moving vehicle when subjected to sudden external forces, rapid maneuvers, or a sudden change in its basic pose. By comparing the tracking error, overshoot, adjustment time, and steady-state error of the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32 before and after the basic motion excitation occurs, the transient response speed and stability of the multi-degree-of-freedom coupled electromechanical system simulation device 3 can be evaluated.

[0054] The simple harmonic excitation unit is used to generate the simple harmonic target pose time history based on the set degrees of freedom, amplitude, frequency, initial phase, and duration of motion. The simple harmonic excitation is used to simulate the basic motion of a moving vehicle under the influence of a regular periodic environment. By changing the amplitude and frequency of the simple harmonic excitation, the tracking performance, phase lag, amplitude attenuation, and disturbance rejection capability of the multi-degree-of-freedom coupled electromechanical system simulation device 3 under different frequency basic motion conditions can be examined, and the resonant frequency band or tracking performance degradation range that the system may experience can be identified.

[0055] The wave excitation unit reconstructs the swaying motion time history of the carrier under random wave action based on the target sea state, carrier speed, carrier heading, and wave propagation direction. The wave excitation unit converts the wave surface motion at the encounter frequency into carrier swaying motion based on the response relationship between wave surface motion and carrier swaying motion. For roll motion, a roll response model is established based on the carrier's roll moment of inertia, additional moment of inertia, roll damping, restoring torque, and wave disturbance torque; for pitch motion, a pitch response model is established based on the carrier's pitch attenuation coefficient, natural circular frequency, and wave surface angle correction coefficient. The wave excitation unit obtains the roll motion response spectrum and pitch motion response spectrum based on the roll response model and pitch response model, and further uses a frequency discretization and random phase wave superposition method to generate the carrier's roll target attitude time history and pitch target attitude time history, respectively. These target attitude time histories are then used to generate the basic motion excitation commands sent to the platform controller 12.

[0056] The motion calculation unit is used to generate basic motion excitation commands for the six-degree-of-freedom platform 11 based on the target pose trajectory, and send the basic motion excitation commands to the platform controller 12, which controls the six-degree-of-freedom platform 11 to generate corresponding basic motion excitations.

[0057] The motion loading module 6 in this embodiment supports high-fidelity loading of various types of excitations, such as wave excitation, harmonic excitation, and step excitation. The excitation type is not limited to a single form and can cover the motion state of various motion carriers such as ships, vehicles, and aircraft in real environments, as well as the rule excitation required for test assessment, thereby meeting the testing needs of multiple scenarios and multiple working conditions. The applicable objects of this embodiment are not limited to weapon systems such as naval guns and tank guns, but can also be extended to multi-degree-of-freedom coupled electromechanical systems on various motion platforms such as radar antenna stabilization platforms, photoelectric tracking turntables, vehicle-mounted robotic arms, and marine operation robotic arms.

[0058] In some embodiments, please refer to Figure 7 The attitude decoupling and correction module 7 uses the synchronized digital twin state and real-time hardware state output by the data processing and visualization module 5 as the current state basis, and the basic motion excitation time history and excitation parameters output by the motion loading module 6 as the motion decoupling input. It also combines the load disturbance information generated by the azimuth magnetic powder brake 314 and the pitch magnetic powder brake 321 to solve for the desired joint state required for the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32 to maintain the target pointing. The control calculation unit then generates the joint position correction amounts for the azimuth motor 316 and the pitch motor 327. The attitude decoupling and correction module 7 includes a motion decoupling unit, a nonlinear approximation unit, and a control calculation unit.

[0059] The motion decoupling unit is connected to the data processing and visualization module 5 and the motion loading module 6, respectively. It is used to establish the kinematic relationship between the motion platform simulation device 1, the azimuth adjustment mechanism 31, and the pitch adjustment mechanism 32 based on the basic motion state and target pointing information of the six-degree-of-freedom platform 11. It also calculates the desired joint angles required for the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32 to maintain the target pointing, and obtains the desired joint angular velocity based on the time history of the desired joint angles. Specifically, the data processing and visualization module 5 transmits the real-time data from the first dynamic tilt sensor 21, the second dynamic tilt sensor 22, the azimuth angle sensor 23, and the pitch angle sensor 24 acquired by the data acquisition device 2 to the motion decoupling unit; the motion loading module 6 transmits the roll, pitch, and other basic motion excitation time histories of the six-degree-of-freedom platform 11 to the motion decoupling unit. The motion decoupling unit establishes the kinematic models of the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32 based on the DH (Denavit-Hartenberg) parameter method. Combined with the real-time basic motion excitation state of the six-degree-of-freedom platform 11, it solves the desired joint angles of the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32 to maintain the end-point pointing, and obtains the desired joint angular velocity based on the time history of the desired joint angle.

[0060] The nonlinear approximation unit is connected to the motion decoupling unit and the data processing and visualization module 5. The nonlinear approximation unit employs an RBF (Radial Basis Function) neural network to approximate the total nonlinear term formed by parameter perturbation, friction, transmission clearance, inertia change, and load coupling online based on the actual and desired joint states, and updates the network weights according to the tracking error. The actual joint states include actual joint angles and actual joint angular velocities. The actual joint angles are acquired by the azimuth angle sensor 23 and the pitch angle sensor 24, and the actual joint angular velocities are obtained by differential and filtering processing of the joint angle time histories acquired by the azimuth angle sensor 23 and the pitch angle sensor 24.

[0061] The control calculation unit is connected to the motion decoupling unit, the nonlinear approximation unit, and the lower computer 42, respectively. It is used to generate the joint position correction amount of the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32 using modern control methods based on the expected joint state, the actual joint state, and the estimation results of the total nonlinear term. The correction amount is then sent to the lower computer 42 via the upper computer 41. The lower computer 42 superimposes the joint position correction amount with the corresponding expected joint angle to form the final joint position command that can be executed by the corresponding servo driver. Specifically, the control calculation unit receives the desired azimuth and pitch joint angles and desired joint angular velocities output by the motion decoupling unit, receives the actual joint angles fed back by the azimuth angle sensor 23 and the pitch angle sensor 24, and obtains the actual joint angular velocity by differential and filtering processing of the joint angle time histories collected by the azimuth angle sensor 23 and the pitch angle sensor 24. Simultaneously, it receives the nonlinear dynamic estimation results output by the nonlinear approximation unit. Based on this, it constructs the joint angle tracking error and angular velocity error, and uses a modern control method combining the terminal sliding mode surface to calculate the joint position correction of the azimuth motor 316 and the pitch motor 327. To reduce control input chattering caused by sliding mode control, the control calculation unit uses a hyperbolic tangent function for smoothing in the robustness term, and introduces the estimation results of the nonlinear approximation unit as feedforward compensation into the control process, thereby improving the tracking accuracy and stability of the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32 under the combined action of basic motion excitation and load disturbance. It should be noted that the modern control method can employ an adaptive terminal sliding mode control method.

[0062] The attitude decoupling and correction module 7 first uses the motion decoupling unit to calculate the desired joint angle based on the basic motion state of the six-degree-of-freedom platform 11 and the target pointing information, and then calculates the desired joint angular velocity based on the time history of the desired joint angle. Subsequently, the nonlinear approximation unit estimates the nonlinear disturbance of the system based on the real-time hardware state and tracking error. Then, the control calculation unit integrates the desired joint state, the actual joint state, and the nonlinear dynamic estimation results to calculate the joint position correction amount. The joint position correction amount is sent to the lower computer 42 via the upper computer 41, and the lower computer 42 inputs the servo drivers corresponding to the azimuth motor 316 and the pitch motor 327 to drive the azimuth transmission pinion 312, the seat ring 311, the pitch transmission pinion 325, the arc rack 324, and the rotating shaft 322 to complete the corresponding compensation motion. After execution, the azimuth angle, pitch angle, total transmitted torque and attitude data are collected again by the data acquisition device 2 and returned to the data processing and visualization module 5, so that the attitude decoupling and correction module 7 continuously updates the decoupling results and joint position correction amount, thereby realizing basic motion disturbance compensation, load coupling disturbance suppression and joint position error correction.

[0063] Therefore, the attitude decoupling and correction module 7 corrects the position control model in real time based on the attitude information, angle information and load information collected by the data acquisition device 2. It compensates for the influence of the basic motion excitation on the system orientation through the motion decoupling unit, and uses the nonlinear approximation unit to approximate the nonlinear dynamics of the system online to compensate for model uncertainty, friction, backlash and load coupling disturbance. Then, the control solution unit generates the joint position correction amount. It takes into account the system's own nonlinear characteristics, load coupling effect and the comprehensive effect of basic motion excitation, which is conducive to improving the position control accuracy and anti-disturbance capability under basic motion excitation.

[0064] In summary, the data processing and visualization module 5, the motion loading module 6, and the attitude decoupling and correction module 7 respectively undertake the functions of state perception and visualization, excitation generation and command issuance, and attitude decoupling and control correction. Through data interaction within the host computer 41 and command interaction between the host computer 41 and the slave computer 42, the three modules, together with the platform controller 12, the six-degree-of-freedom platform 11, the data acquisition device 2, and the multi-degree-of-freedom coupled electromechanical system simulation device 3, form a closed-loop twin control system to realize position control simulation experiments, virtual and real synchronous display, and control performance optimization under complex basic motion excitation and adjustable load conditions. Example

[0065] Please see Figure 8 This embodiment provides a twin management method for a position control simulation test bench for electromechanical systems on a moving platform. This twin management method is implemented based on the aforementioned position control simulation test bench for electromechanical systems on a moving platform. The twin management method includes the following steps: S100. Twin Construction and System Initialization: In the host computer 41 of the electrical control device 4, a digital twin corresponding to the motion platform simulation device 1, the orientation adjustment mechanism 31, the pitch adjustment mechanism 32, the data acquisition device 2, and the slave computer 42 is established, and the geometric model, physical model, behavioral model, rule model, and communication interface are configured; the motion platform simulation device 1, the orientation adjustment mechanism 31, and the pitch adjustment mechanism 32 are initially calibrated, and the first dynamic tilt sensor 21, the second dynamic tilt sensor 22, the angle sensor, and the torque sensor are reset.

[0066] Specifically, the host computer 41 establishes a corresponding digital twin based on the structure and interface relationships of the six-degree-of-freedom platform 11, platform controller 12, data acquisition device 2, multi-degree-of-freedom coupled electromechanical system simulation device 3, and electrical control device 4, and configures the geometric model, physical model, behavioral model, and rule model in the data processing and visualization module 5; the platform controller 12 completes the initial state confirmation of the six-degree-of-freedom platform 11, and the electrical control device 4 completes the initial state confirmation of the remaining hardware, so that the initial state of the physical side is consistent with the initial model of the twin side.

[0067] This embodiment utilizes digital twin technology to construct a three-dimensional twin model synchronized with the hardware system, realizing bidirectional interaction and real-time synchronization between the physical entity and the virtual model, and between the physical and virtual models. Through the data processing and visualization module 5, it provides functions such as layered visualization display, dynamic curves, alarm threshold monitoring, and data export, which improves the observability of the test process and the traceability of data, thereby enhancing the control efficiency and test reliability of the simulation test device.

[0068] S200, Test Parameter Setting and Basic Motion Excitation Generation: Input the target orientation, basic motion excitation type, excitation parameters and load parameters into the twin control system. The motion loading module 6 generates multiple types of excitations such as step excitation, simple harmonic excitation, and wave excitation according to the test requirements. It generates basic motion excitation instructions according to the target pose and sends the basic motion excitation instructions to the platform controller 12.

[0069] Specifically, the operator inputs the target direction, basic motion excitation type, excitation parameters and load parameters through the host computer 41. The motion loading module 6 generates basic motion excitation instructions according to the test requirements and sends them to the platform controller 12. The twin control system forms the excitation current or torque setting values ​​of the azimuth magnetic powder brake 314 and the pitch magnetic powder brake 321 according to the load parameters and sends the load setting values ​​to the lower computer 42.

[0070] S300, Physical Excitation and Load Execution: The platform controller 12 controls the six-degree-of-freedom platform 11 to generate basic motion excitation according to the basic motion excitation command; the lower computer 42 outputs the corresponding excitation current or torque command according to the load setting value of the azimuth magnetic powder brake 314 of the azimuth adjustment mechanism 31 and the pitch magnetic powder brake 321 of the pitch adjustment mechanism 32, and the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32 execute the tracking action under the control of the corresponding servo driver.

[0071] Specifically, after receiving the basic motion excitation command, the platform controller 12 controls the six-degree-of-freedom platform 11 to generate a predetermined basic motion excitation and transmits the excitation to the multi-degree-of-freedom coupled electromechanical system simulation device 3; the lower-level machine 42 drives the azimuth motor 316 and the pitch motor 327 to perform target pointing and tracking, and at the same time controls the azimuth magnetic powder brake 314 and the pitch magnetic powder brake 321 to output a preset braking torque to simulate load disturbance.

[0072] The lower-level machine 42 only controls the azimuth adjustment mechanism 31, the pitch adjustment mechanism 32, the azimuth magnetic powder brake 314, and the pitch magnetic powder brake 321; the six-degree-of-freedom platform 11 is controlled by the platform controller 12.

[0073] S400, Operation Status Acquisition and Data Preprocessing: The data acquisition device 2 acquires the roll angle, pitch angle, and yaw angle of the six-degree-of-freedom platform 11 in the absolute coordinate system through the first dynamic tilt sensor 21, acquires the pitch angle and yaw angle of the end effector simulation component in the absolute coordinate system through the second dynamic tilt sensor 22, acquires the actual azimuth joint angle of the azimuth adjustment mechanism 31 relative to the six-degree-of-freedom platform 11 through the azimuth angle sensor 23, acquires the actual pitch joint angle of the pitch adjustment mechanism 32 relative to the support 326 through the pitch angle sensor 24, and acquires the total transmitted torque of the azimuth channel and the total transmitted torque of the pitch channel through the azimuth torque sensor 25 and the pitch torque sensor 26, respectively; the lower-level machine 42 and the corresponding servo driver feed back the actuator status data; the data processing and visualization module 5 parses, timestamps, removes outliers, performs median filtering and moving average filtering, coordinate transformation, unit conversion, and stores the above data to form a real-time dataset for digital twin updates, attitude decoupling, end effector motion status evaluation, and closed-loop control calculation.

[0074] Specifically, during the physical execution process, the data acquisition device 2 synchronously acquires the roll angle, pitch angle, and yaw angle of the six-degree-of-freedom platform 11 in the absolute coordinate system, the pitch angle and yaw angle of the end effector in the absolute coordinate system, the actual azimuth joint angle of the azimuth adjustment mechanism 31 relative to the six-degree-of-freedom platform 11, the actual pitch joint angle of the pitch adjustment mechanism 32 relative to the support 326, the total transmitted torque of the azimuth channel, the total transmitted torque of the pitch channel, and the actuator status data. The data processing and visualization module 5 parses, timestamps, removes outliers, performs median filtering and moving average filtering, coordinate transformation, unit conversion, and stores the acquired data to form a real-time dataset for digital twin updates and closed-loop control calculations.

[0075] S500, Real-Virtual Synchronization and Visualized Control: The data processing and visualization module 5 updates the three-dimensional virtual models corresponding to the motion platform simulation device 1, the orientation adjustment mechanism 31, and the pitch adjustment mechanism 32 based on real-time data, and displays the operating status, motion curve, target pointing, tracking error, test conditions, and control mode through the equipment layer, parameter layer, and system layer monitoring dashboards, realizing real-time mapping from physical to virtual.

[0076] Specifically, the data processing and visualization module 5 updates the digital twin based on real-time data, keeping the 3D virtual model synchronized with the physical hardware system; the device layer, parameter layer and system layer dashboards respectively display device status, motion curves, target pointing, tracking error, alarm information and control mode.

[0077] S600, Attitude Decoupling and Correction Control: The attitude decoupling and correction module 7, based on the target orientation, basic motion excitation information, and current hardware feedback state, uses the motion decoupling unit to solve for the desired joint angles of the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32, and calculates the desired joint angular velocity based on the time history of the desired joint angles; the actual joint angles are collected by the azimuth angle sensor 23 and the pitch angle sensor 24, and the actual joint angular velocity is obtained by differential and filtering processing of the joint angle time histories collected by the azimuth angle sensor 23 and the pitch angle sensor 24; the nonlinear approximation unit uses an RBF neural network to estimate the total nonlinear term of the system online; the control solution unit uses modern control methods to generate the joint position correction amount based on the desired joint state, the actual joint state, and the estimation results of the total nonlinear term.

[0078] Specifically, the attitude decoupling and correction module 7 calculates the desired joint angles of the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32 based on the synchronized digital twin state, basic motion excitation information, load parameters, and current hardware feedback state, and obtains the desired joint angular velocity based on the desired joint angle time history. The actual joint angles are collected by the azimuth angle sensor 23 and the pitch angle sensor 24, and the actual joint angular velocity is obtained by differential and filtering processing of the joint angle time history collected by the azimuth angle sensor 23 and the pitch angle sensor 24. An RBF neural network is used to approximate the total nonlinear term formed by parameter perturbation, friction, transmission clearance, inertia change, and load coupling online. Based on the estimation results of the desired joint state, the actual joint state, and the total nonlinear term, the joint position correction amount of the azimuth adjustment mechanism 31 and the pitch adjustment mechanism 32 is generated.

[0079] It should be noted that the desired joint state includes the desired joint angle and the desired joint angular velocity; the motion decoupling unit solves for the desired joint angle through forward and inverse kinematics, and obtains the desired joint angular velocity based on the time history of the desired joint angle; the actual joint angle is collected by the azimuth angle sensor 23 and the pitch angle sensor 24, and the actual joint angular velocity is obtained by differential and filtering processing of the joint angle time history collected by the azimuth angle sensor 23 and the pitch angle sensor 24; the nonlinear approximation unit uses an RBF neural network to approximate the total nonlinear term online, and updates the network weights according to the tracking error; the control solution unit uses modern control methods to solve for the joint position correction, and uses a hyperbolic tangent function to smooth the robust term to suppress control input chattering.

[0080] S700, Control Command Issuance and Feedback Calibration: The host computer 41 sends the joint position correction amount to the slave computer 42. The slave computer 42 performs amplitude limiting and safety status verification on the joint position correction amount, and superimposes it with the corresponding expected joint angle to form the final joint position command that can be executed by the corresponding servo driver. The physical execution result is fed back to the data processing and visualization module 5 and the attitude decoupling and correction module 7 through the data acquisition device 2 to form a closed-loop control process.

[0081] Specifically, the lower-level machine 42 receives the joint position correction amount sent by the upper-level machine 41, and superimposes the joint position correction amount with the expected joint angle of the corresponding channel to form the final joint position command that can be executed by the servo driver corresponding to the azimuth motor 316 and the pitch motor 327. After execution on the physical side, the data acquisition device 2 collects attitude, angle and total transmitted torque data again. The data processing and visualization module 5 compares the measured results with the twin-side calculation results, and calibrates the model parameters according to the virtual-real deviation. The attitude decoupling and correction module 7 updates the weights of the RBF neural network according to the tracking error.

[0082] Through the above method, this embodiment enables the basic motion excitation provided by the six-degree-of-freedom platform 11, the azimuth and pitch coupled motion formed by the multi-degree-of-freedom coupled electromechanical system simulation device 3, the adjustable load formed by the magnetic particle brake, and the state mapping, decoupling and correction functions formed by the twin control system to cooperate with each other, so as to realize the basic motion excitation loading, load simulation, dual-channel coupled position control, virtual and real synchronous display and feedback calibration on a unified test platform.

[0083] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0084] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0085] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A simulation test bench for position control of an electromechanical system on a moving platform, characterized in that, This includes hardware systems and twin management systems, among which: The hardware system includes a motion platform simulation device, a data acquisition device, a multi-degree-of-freedom coupled electromechanical system simulation device, and an electrical control device. The motion platform simulation device includes a six-degree-of-freedom platform and a platform controller. The platform controller controls the motion of the six-degree-of-freedom platform according to basic motion excitation commands to apply basic motion excitation to the multi-degree-of-freedom coupled electromechanical system simulation device located on the six-degree-of-freedom platform. The multi-degree-of-freedom coupled electromechanical system simulation device includes an azimuth adjustment mechanism and a pitch adjustment mechanism. The azimuth adjustment mechanism can rotate around the azimuth axis and introduce changes in channel load characteristics within the azimuth channel. The pitch adjustment mechanism can swing around the pitch axis and introduce changes in channel load characteristics and auxiliary support within the pitch channel. The data acquisition device collects the operating status information of the six-degree-of-freedom platform, the azimuth channel, and the pitch channel. The twin control system is built into the electrical control device and communicates bidirectionally with the hardware system. The twin control system includes a data processing and visualization module, a motion loading module, and an attitude decoupling and correction module. The data processing and visualization module processes, stores, and visualizes real-time data and drives the synchronous update of the 3D virtual model. The motion loading module generates basic motion excitation commands and sends them to the platform controller. The attitude decoupling and correction module solves for the desired joint state and generates joint position corrections based on hardware feedback and basic motion excitation information.

2. The position control simulation test bench for the electromechanical system on the moving platform according to claim 1, characterized in that, The orientation adjustment mechanism includes a base plate, a seat ring, an orientation transmission pinion, an orientation motor, an orientation magnetic powder brake, and an orientation rotational inertia disk assembly, wherein: The base plate is connected to the motion platform simulation device; The seat ring is rotatably mounted on the base plate, and a pitch adjustment mechanism is connected to the side of the seat ring away from the motion platform simulation device; The azimuth transmission pinion is sleeved on the output end of the azimuth motor and meshes with the seat ring, so that the azimuth motor is connected to the seat ring and drives the seat ring and the pitch adjustment mechanism to move around the azimuth direction. The output end of the azimuth magnetic powder brake is connected to the seat ring drive so that the braking torque generated by the azimuth magnetic powder brake acts on the azimuth rotation motion of the seat ring. The drive end of the azimuth rotation inertia disk assembly is connected to the seat ring drive, so that the rotational inertia of the azimuth rotation inertia disk assembly is superimposed on the azimuth rotational motion of the seat ring.

3. The position control simulation test bench for the electromechanical system on the moving platform according to claim 2, characterized in that, The pitch adjustment mechanism includes a bracket, a rotating shaft, an arc rack, a pitch motor, a pitch transmission pinion, a pitch magnetic powder brake, and a pitch inertia disk assembly, wherein: The bracket is connected to the side of the seat ring that is away from the motion platform simulation device, and can rotate with the seat ring in orientation; The rotating shaft is rotatably connected to the bracket; The inner end of the arc-shaped rack is connected to the rotating shaft, and the outer end of the arc-shaped rack extends toward the motion platform simulation device; The pitch motor is mounted on a bracket; The pitch drive pinion is sleeved on the output end of the pitch motor and meshes with the arc rack, so that the pitch motor is connected to the arc rack and drives the rotating shaft to make pitch direction adjustment movements. The output end of the pitch magnetic powder brake is connected to the rotating shaft drive so that the braking torque generated by the pitch magnetic powder brake acts on the pitch rotation motion of the rotating shaft. The transmission end of the pitch inertia disk assembly is connected to the rotating shaft, so that the rotational inertia of the pitch inertia disk assembly is superimposed on the pitch rotation motion of the rotating shaft.

4. The position control simulation test bench for the electromechanical system on the moving platform according to claim 3, characterized in that, The pitch adjustment mechanism also includes an electric cylinder and a mounting base. The mounting base is fixedly connected to the rotating shaft, the cylinder body end of the electric cylinder is connected to the bracket, and the output end of the electric cylinder is connected to the mounting base.

5. The position control simulation test bench for the electromechanical system on the moving platform according to claim 3, characterized in that, The electrical control device includes a host computer and a slave computer. The host computer is used for inputting test parameters, motion decoupling, nonlinear approximation, joint position correction calculation, issuing basic motion excitation commands, status monitoring, curve display, and data storage. The slave computer is used to receive the joint position correction and load setting values ​​issued by the host computer, and to perform real-time control and safety limit on the servo drivers, encoders, azimuth magnetic powder brakes, and pitch magnetic powder brakes corresponding to the azimuth and pitch motors. The six-degree-of-freedom platform is controlled by a platform controller.

6. The position control simulation test bench for the electromechanical system on the moving platform according to claim 5, characterized in that, The data processing and visualization module is connected to the data acquisition device, platform controller, lower-level machine, database, motion loading module and attitude decoupling and correction module through communication interfaces. The data processing and visualization module includes a data preprocessing unit, a 3D visualization unit, and a monitoring dashboard unit. The data preprocessing unit is used to parse, timestamp-align, remove outliers, perform median filtering and moving average filtering, coordinate transformation, unit conversion, and storage of real-time data. The 3D visualization unit is used to construct 3D virtual models corresponding to the motion platform simulation device, azimuth adjustment mechanism, and pitch adjustment mechanism, and drive their synchronous movement. The monitoring dashboard unit is used to display equipment status, operating parameters, motion curves, target pointing, tracking error, test conditions, and alarm information through the equipment layer, parameter layer, and system layer.

7. The position control simulation test bench for the electromechanical system on the moving platform according to claim 1, characterized in that, The motion loading module includes a step excitation unit, a harmonic excitation unit, a wave excitation unit, and a motion calculation unit; The step excitation unit is used to generate the step target pose time history based on the step degrees of freedom, step amplitude, step time, initial pose and hold time set by the user. The simple harmonic excitation unit is used to generate the simple harmonic target pose time history based on the set motion degrees of freedom, motion amplitude, motion frequency, initial phase and duration; The wave excitation unit is used to reconstruct the swaying motion time history of the carrier under the action of random waves based on the target sea state, carrier speed, carrier heading and wave propagation direction. The motion calculation unit is used to generate basic motion excitation commands for the six-degree-of-freedom platform based on the target pose trajectory, and send the basic motion excitation commands to the platform controller, which then controls the six-degree-of-freedom platform to generate the corresponding basic motion excitations.

8. The position control simulation test bench for the electromechanical system on the moving platform according to claim 5, characterized in that, The attitude decoupling and correction module includes a motion decoupling unit, a nonlinear approximation unit, and a control calculation unit; The motion decoupling unit is used to establish the kinematic relationship between the motion platform simulation device, the azimuth adjustment mechanism, and the pitch adjustment mechanism based on the basic motion state and target pointing information of the motion platform simulation device. It solves for the desired joint angles required for the azimuth and pitch adjustment mechanisms to maintain the target pointing and obtains the desired joint angular velocity based on the time history of the desired joint angle. The desired joint angle and the desired joint angular velocity together constitute the desired joint state. The actual joint state includes the actual joint angle and the actual joint angular velocity. The actual joint angle is collected by the azimuth angle sensor and the pitch angle sensor, and the actual joint angular velocity is obtained by differential and filtering processing of the joint angle time history collected by the azimuth angle sensor and the pitch angle sensor. The nonlinear approximation unit uses a neural network to approximate the total nonlinear term formed by parameter perturbation, friction, transmission clearance, inertia change and load coupling online according to the actual joint state and the expected joint state, and updates the network weights according to the tracking error. The control calculation unit is used to generate joint position correction values ​​for the azimuth adjustment mechanism and the pitch adjustment mechanism based on the expected joint state, the actual joint state, and the estimation results of the total nonlinear term using modern control methods. The correction values ​​are then sent from the host computer to the slave computer, which adds the joint position correction values ​​to the corresponding expected joint angles to form the final joint position command that can be executed by the corresponding servo driver.

9. A twin control method for a position control simulation test bench for an electromechanical system on a moving platform, characterized in that, Based on the electromechanical system position control simulation test bench on the moving platform according to any one of claims 1 to 8, the twin control method includes the following steps: S100. Twin Construction and System Initialization: In the host computer of the electrical control device, establish digital twins corresponding to the motion platform simulation device, azimuth adjustment mechanism, pitch adjustment mechanism, data acquisition device, and slave computer, and configure geometric models, physical models, behavioral models, rule models, and communication interfaces; perform initial state calibration on the motion platform simulation device, azimuth adjustment mechanism, and pitch adjustment mechanism. S200, Test Parameter Setting and Basic Motion Excitation Generation: Input the target orientation, basic motion excitation type, excitation parameters and load parameters into the twin control system. The motion loading module generates step excitation, simple harmonic excitation and wave excitation according to the test requirements, generates basic motion excitation instructions according to the target pose, and sends the basic motion excitation instructions to the platform controller. S300, Physical Side Excitation and Load Execution: The platform controller controls the six-degree-of-freedom platform to generate basic motion excitation according to the basic motion excitation command; the lower computer outputs the corresponding excitation current or torque command according to the load setting value of the azimuth magnetic powder brake of the azimuth adjustment mechanism and the pitch magnetic powder brake of the pitch adjustment mechanism. The azimuth adjustment mechanism and the pitch adjustment mechanism perform tracking actions under the control of the corresponding servo driver. S400, Operation Status Acquisition and Data Preprocessing: The data acquisition device acquires the roll angle, pitch angle, and yaw angle of the six-degree-of-freedom platform in the absolute coordinate system through the first dynamic tilt sensor, the pitch angle and yaw angle of the end effector in the absolute coordinate system through the second dynamic tilt sensor, the actual azimuth joint angle of the azimuth adjustment mechanism relative to the six-degree-of-freedom platform through the azimuth angle sensor, the actual pitch joint angle of the pitch adjustment mechanism relative to the support through the pitch angle sensor, and the total transmitted torque of the azimuth channel and the total transmitted torque of the pitch channel through the azimuth torque sensor and the pitch torque sensor, respectively; the lower-level machine and the corresponding servo driver feed back the actuator status data; the data processing and visualization module parses the above data, timestamps are aligned, outliers are removed, median filtering and moving average filtering are performed, coordinate transformation is performed, unit conversion is performed, and the data is stored to form a real-time dataset for digital twin updates, attitude decoupling, end effector motion status evaluation, and closed-loop control calculation; S500, virtual-real synchronization and visual control: The data processing and visualization module updates the three-dimensional virtual models corresponding to the motion platform simulation device, azimuth adjustment mechanism and pitch adjustment mechanism according to real-time data, and displays the operating status, motion curve, target pointing, tracking error, test conditions and control mode through the equipment layer, parameter layer and system layer monitoring dashboard, realizing real-time mapping from physical to virtual. S600, Attitude Decoupling and Correction Control: The attitude decoupling and correction module, based on the target orientation, basic motion excitation information, and current hardware feedback state, uses the motion decoupling unit to solve for the desired joint angles of the azimuth and pitch adjustment mechanisms, and calculates the desired joint angular velocity based on the time history of the desired joint angles. The actual joint angles are collected by the azimuth and pitch angle sensors, and the actual joint angular velocity is obtained by differential and filtering processing of the joint angle time histories collected by the azimuth and pitch angle sensors. The nonlinear approximation unit uses a neural network method to estimate the total nonlinear term of the system online. The control solution unit uses modern control methods to generate joint position correction amounts based on the desired joint state, actual joint state, and the estimation results of the total nonlinear term. S700, Control Command Issuance and Feedback Calibration: The host computer sends the joint position correction amount to the slave computer. The slave computer limits and verifies the safety status of the joint position correction amount, and superimposes it with the corresponding expected joint angle to form the final joint position command that can be executed by the corresponding servo driver. The physical execution result is fed back to the data processing and visualization module and the attitude decoupling and correction module through the data acquisition device to form a closed-loop control process.

10. The twin control method according to claim 9, characterized in that, In step S600, the motion decoupling unit obtains the desired joint angle through forward and inverse kinematics solutions, and calculates the desired joint angular velocity based on the time history of the desired joint angle; the actual joint angle is acquired by the azimuth angle sensor and the pitch angle sensor, and the actual joint angular velocity is obtained by differential and filtering processing of the joint angle time histories acquired by the azimuth angle sensor and the pitch angle sensor; the nonlinear approximation unit estimates the nonlinear dynamics using an online approximation method; the control solution unit calculates the joint position correction using modern control methods, and performs smoothing processing in the robustness term to suppress control input chattering.

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