134 results about "Micro gravity" patented technology

The invention relates to a three-dimensional microgravity simulation system, and belongs to the field of spaceflight mechanism ground tests. According to the three-dimensional microgravity simulation system, ground six-degree-of-freedom microgravity simulation can be realized, the aircraft simulator and accessories thereof have a five-degree-of-freedom motion state on an air floating plane through the five-degree-of-freedom air floating platform, and the aircraft simulator can have a three-dimensional space six-degree-of-freedom motion state through the magnetic air suspension assembly. In the process of a ground microgravity experiment, the gravity of the movement of the aircraft and accessories thereof is unloaded by the magnetic suspension assembly, so that the movement interference of the aircraft simulator and the microgravity simulation tool is avoided, and the problem of dynamic high-precision gravity unloading is solved.

The invention belongs to the technical field related to robot motion control, and provides a robot motion control method and system in a microgravity environment in order to solve the problems of stability and sand blowing of robot motion under existing microgravity. A robot swing stage is divided into three sub-stage motions, and a robot foot end expected track is generated for each sub-stage motion; the robot state information, the historical track and the environment information are input into a pre-constructed joint control model, and a joint control instruction of the robot in the microgravity environment is obtained through prediction; the joint control model is a strategy network model trained in a reinforcement learning mode; the trajectory tracking reward is determined by the actual position of the robot and the expected position of the foot end of the robot. Stable, low-disturbance and high-efficiency movement of the robot in the microgravity environment is achieved, and meanwhile the sand blowing phenomenon is effectively restrained.

The invention relates to a low-cost parachute landing recovery system for a microgravity load return capsule, and aims to realize an efficient, reliable and economical recovery scheme through modular design, all modules are connected through standard interfaces, and assembly, maintenance and upgrading are facilitated. The structure module is used for assembling the parachute module and providing necessary shock resistance; the parachute module is used for pneumatic deceleration and attitude stabilization of the system and adopts a multi-stage unfolding structure; and the initiating explosive device module is used for bouncing the brake parachute, releasing the brake parachute and releasing a parachute closing opening. According to the system, the production and maintenance cost is remarkably reduced through modular design, meanwhile, the reliability and adaptability of the system are improved, and the system is suitable for various microgravity load return scenes and has wide market application prospects.

The invention relates to a ground test gravity unloading device for simulating a space microgravity environment. A base is fixedly arranged at the bottom of a fixed frame; a suspension system is arranged above the base and comprises a fixed pulley block mounted on the fixed frame, a pull rope is wound on the fixed pulley block, the bottom of one end of the pull rope is connected with a dynamometer through a tension spring, and the bottom of the other end of the pull rope is wound on a winch mounted on the base; the hoisting system comprises an external excitation device which is suspended right above the detected object; the displacement sensing system comprises a displacement sensor. The device is simple in principle and construction mode, has a relatively ideal controlled unloading mode, has the test advantage of controllable fine adjustment, is mainly used for simulating a space micro-vibration / microgravity environment to carry out a ground test, reproduces a space environment on the ground to the greatest extent so as to verify the functions and performance of a spacecraft and components thereof, and has a wide application prospect. For example, whether the vibration isolator can work reliably on orbit is verified, so that the on-orbit risk is remarkably reduced, the research and development cycle is shortened, and huge cost is saved.

The invention discloses a gear service life evaluation method, and belongs to the technical field of aerospace mechanism service life evaluation. According to the technical scheme, firstly, a five-stress wear rate data set containing the rotating speed, the torque, the temperature alternating, the vacuum degree and the microgravity is established; then constructing a tooth surface solid lubricating film thickness evolution model based on a Hertz-Archard coupling model, and taking the film thickness approaching to zero as a failure criterion; acceleration factors under each acceleration working condition are calculated through model iteration, and a gear acceleration life test is carried out under an optimized working condition; after the test, the film thickness is measured and compared with model prediction, the rated working condition life of the gear is reversely deduced, the long-time on-orbit life of the gear is equivalently predicted through the short-time ground test, and high acceleration efficiency and reliability are achieved. The technical problems of environmental simulation distortion and low acceleration efficiency in aerospace lubrication gear service life evaluation are solved.

The invention discloses a press-in hardness measuring device and method in a microgravity environment, and relates to the technical field of space science experimental equipment. The invention discloses a press-in hardness measuring device in a microgravity environment. The press-in hardness measuring device comprises an airtight module, an air filtering module and a hardness measuring module, the airtight module comprises an airtight cabin body and a negative pressure device; the air filtering module is directly mounted in the airtight cabin body or is communicated with the interior of the airtight cabin body through a pipeline, and is used for circularly filtering dust in air in the airtight cabin body; the hardness measuring module is used for being coupled with or separated from a to-be-tested sample, and the air tightness of the airtight cabin body is not damaged in the coupling and separating processes. The invention discloses a press-in hardness measurement method in a microgravity environment. The method comprises the following steps: 1, carrying out sealing operation; 2, negative pressure operation; 3, hardness measurement and dust filtration; and 4, taking out the sample. The device has the advantages that by actively establishing a negative pressure environment, the airflow direction is inward even if extremely small leakage exists in the sealed cabin, so that chippings are efficiently restrained in the sealed space, and the safety is high.

The invention discloses a force-position coupling control method and system for a magnetic-pneumatic suspension servo device, and relates to the technical field of ground microgravity experiments of space mechanisms. After the sling inclination angle detection device is used for detecting the angle of the sling deviating from the numerical direction, the position following controller drives the omni-directional wheel to conduct position correction based on deflection angle feedback, meanwhile, the constant force compensation controller drives the constant force compensation motor to conduct tension adjustment through the deflection angle feedback and tension feedback, and therefore higher-precision gravity unloading is achieved.

The invention discloses a repeated unfolding and folding mechanism in a space microgravity environment, the repeated unfolding and folding mechanism comprises a transmission assembly, a winding assembly, a tensioning wheel assembly, a steel wire rope, an unfolding and folding spring and a load mounting interface, and the load mounting interface is mounted on a star; the unfolding and folding spring is fixedly connected between the transmission assembly and the load mounting interface; one end of the steel wire rope is fixedly mounted on the winding assembly, the other end is fixedly connected with the load mounting interface, and the middle part bypasses the tensioning wheel assembly; the tensioning wheel assembly is used for tensioning the steel wire rope; when the transmission assembly drives the winding assembly to rotate forwards, the steel wire rope is wound around the winding assembly, the unfolding and folding spring is compressed by winding the steel wire rope, and the unfolding and folding spring is folded; when the transmission assembly drives the winding assembly to rotate reversely, the steel wire rope is released from the winding assembly, and the unfolding and folding spring stretches under the action of spring force. The mechanism is suitable for unfolding and folding actions of load equipment in a space microgravity environment, and has the characteristics of repeated unfolding and folding and adjustable speed.

The invention relates to the technical field of space robot ground testing, in particular to a space crawling robot surface and microgravity simulation system. Comprising a surface simulation assembly, an inclined plane adjusting assembly and a gravity balancing assembly, the surface simulation assembly is arranged on the inclined plane adjusting assembly, and the inclined plane adjusting assembly is used for adjusting the inclination angle of the surface simulation assembly; the gravity balancing assembly is arranged above the surface layer simulation assembly and used for being connected with the space crawling robot to be tested, and when the space crawling robot moves on the surface layer simulation assembly according to a set trajectory plan, the gravity balancing assembly can passively adapt to the motion trajectory of the space crawling robot; and the climbing motion of the simulated satellite surface in the space microgravity environment is completed. The space crawling robot simulates crawling on the surfaces of satellites and spacecrafts in the microgravity state, verification of the motion performance of the crawling robot under the space microgravity in a ground test is completed, and the problem that the ground test of the space crawling robot is difficult is solved.

The invention belongs to the technical field of high-temperature heat pipe heat transfer performance testing, and particularly relates to a high-temperature heat pipe performance testing device and method under the microgravity condition. The device comprises a heat pipe performance test body, a test cabin, a protection recovery system and a high-altitude carrying platform, the heat pipe performance test body is arranged in the test cabin, and the high-altitude carrying platform comprises a lift-off mechanism and a release mechanism and is used for sending the test cabin to an airspace at a specified height and releasing the test cabin to realize free falling of the test cabin. The protection recovery system adopts two-stage deceleration buffering to protect the test cabin. The device has the advantages of being controllable in cost, long in microgravity time and capable of being repeatedly used, performance testing of the large-length-diameter-ratio heat pipe under the simulated space microgravity environment can be carried out, and the performance of the high-temperature heat pipe under the real working condition can be accurately and comprehensively evaluated; the device is especially suitable for testing the starting characteristic, transient and steady-state characteristics and temperature uniformity of the high-temperature heat pipe under the microgravity condition.

A space-based repeatable tolerance-tolerant docking ground simulation test device is disclosed. This invention addresses the limitations of existing ground simulation technologies in accurately simulating docking errors, faithfully reproducing microgravity environments, and simulating tunnel conditions. The invention includes a ball-joint servo-oscillating frame. A six-degree-of-freedom attitude adjustment component is located at the bottom of the ball-joint servo-oscillating frame. A standardized interface prototype is mounted on the six-degree-of-freedom attitude adjustment component, and a servo component is mounted on the standardized interface prototype. One end of a steel wire rope is connected to the servo component, and the other end of the steel wire rope passes through a pulley system fixed to the ball-joint servo-oscillating frame and is connected to a counterweight. This invention belongs to the field of aerospace engineering ground simulation test technology.

The application discloses a microgravity simulation simulation dynamic anchor point seat rope-driven parallel robot, relates to the field of rope-driven parallel robots, and comprises an outer frame, at least two layers of track modules are arranged in the outer frame, a plurality of dynamic anchor point seats are slidably connected on the track modules, at least four groups of dynamic anchor point seats are arranged on the track modules in the same layer, and the plurality of dynamic anchor point seats are connected with long-arm spread mechanical arms through ropes. Through the structure arranged in the application, the dynamic anchor point seat rope-driven parallel robot has super-redundant degrees of freedom and sufficient working space, can be applied to ground microgravity simulation simulation of the long-arm spread mechanical arm, a plurality of dynamic anchor point seats are installed on the track, the dynamic anchor point seats are connected with upper lifting points of the mechanical arms through the ropes, and each section of the rope can be used to drive the mechanical arm.

The invention discloses a high-precision gravity unloading device capable of achieving three-dimensional motion, and belongs to the field of gravity unloading. The device comprises an unloading truss assembly, a first longitudinal guide rail assembly, a second longitudinal guide rail assembly and two independent moving units, wherein the first longitudinal guide rail assembly and the second longitudinal guide rail assembly are different in installation height. Each set of motion unit comprises a longitudinal tackle assembly slidably connected to the longitudinal guide rail assembly, a transverse guide rail assembly bridged between the longitudinal guide rail assemblies, a transverse tackle assembly slidably mounted on the transverse guide rail assembly, a fixed pulley assembly fixedly connected to the transverse tackle assembly, and a lifting rope crossing the fixed pulley assembly to connect the tested rotating mechanism and the counterweight. Two sets of independent movement units are arranged, and the structural interference of a plurality of unloading points in the longitudinal opposite staggered movement process is avoided through the arrangement of longitudinal guide rails which are arranged in a high-low staggered mode. By optimizing the layout of the fixed pulley and the counterweight, three-dimensional high-precision dynamic follow-up unloading of a complex double-shaft rotating mechanism in a large rotating angle range is realized, and reliable microgravity environment simulation is provided for ground testing of aerospace equipment.

The invention provides a low microgravity environment simulation and vibration test device and method.In the device, a tested piece mounting and positioning assembly is connected with a structure supporting and guiding assembly through a linear guide rail, a tested piece is guided through movement through the guide rail, and the tested piece mounting and positioning assembly is connected with a movement excitation assembly; the tested piece is driven to reciprocate along with an excitation signal generated by the excitation control assembly; the test method comprises the following steps: measuring the mass of a tested piece before testing; the motion excitation assembly is controlled to move at a constant speed, and thrust of the motion excitation assembly is measured; adjusting the inclined plane angle of the structure support guide assembly, so that the gravity component of the tested piece along the inclined plane is equal to the gravity in the low microgravity environment; the excitation control assembly controls the motion excitation assembly to move, and a vibration characteristic test of the tested piece is carried out. The problems that an existing low microgravity environment simulation method is high in cost, and broadband vibration excitation is not easy to achieve can be solved.

To achieve efficient cleaning under a microgravity environment.SOLUTION: A cleaning device cleans an object to be cleaned by discharging cleaning water stored in a tank 20 through a hose 21 out of pipes 11, 12 provided in a discharge section 10. In order to prevent the discharged water from dispersing in a zero-gravity environment, the surroundings of the object are covered with a cover 40, and the discharged water is sucked with a suction device 32 and collected in a collection tank 30 through a hose 31. The discharge section 10 includes two pipes 11, 12 arranged in parallel for discharging water and has a swirl flow generation mechanism that imparts a circumferential velocity component to the main water flow so that the water can be discharged as a swirl flow and that rotates the pipes 11, 12 around their axes to generate the swirl flow. This enables the generation of swirl flow even under a microgravity environment, thereby improving cleaning efficiency.SELECTED DRAWING: Figure 1

The application provides a device and method for simulating microgravity fluid on the ground by using motion method, and belongs to the field of ground microgravity simulation. The application comprises a microcomputer control system, a fluid carrier U-shaped pipe, a gas source power equipment and a sensor detection system. The pipe opening of the U-shaped pipe is upward and is fixed on the ground near by a support. The two ends of the pneumatic pipeline in the gas source power equipment are connected with the two vertical sections of the U-shaped pipe through rubber hoses. The sensor detection system is used for detecting and collecting the motion parameters of the liquid fluid in the U-shaped pipe. The sensor detection system is connected with the microcomputer control system, and the microcomputer control system is used for controlling the gas source power equipment. The application adopts the motion method to make the liquid fluid move in the U-shaped pipe in a set rule. The acceleration of the liquid fluid in the motion process is consistent with the gravity field by the microcomputer control system, so as to eliminate the gravity influence between the micro elements of the liquid fluid and achieve the weightlessness.

This invention belongs to the field of special robots and intelligent control, and discloses a method for autonomous robot operation in the space environment. This method addresses the challenge of high-precision and stable autonomous operation of robots in the complex lighting, communication-restricted, and microgravity environment of space. It achieves high-precision acquisition of the pose and motion state of non-cooperative targets by constructing a multi-sensor fusion stable perception mechanism adapted to the extreme space environment; it employs an edge computing-driven task autonomous planning strategy to achieve efficient autonomous decision-making and rapid response in space-based operations under communication-restricted conditions; and it proposes a force-position cooperative control method based on learning perturbation compensation to ensure high-precision and stable execution of space-based operations in a microgravity environment. The method proposed in this invention effectively improves the success rate of space robot operations and contributes to promoting the large-scale application of space manufacturing.

The application discloses a kind of spacecraft ground microgravity simulation platform dynamics modeling and mass balancing method, belong to the technical field of space technology.The application includes the following steps: according to the component assembly relationship of spacecraft ground microgravity semi-physical simulation platform, distinguish each component and component group;According to the condition of each component and component group and whole, respectively, each component and component group are established coordinate system;Dynamics derivation is carried out based on coordinate system, and dynamics model is obtained;The complete dynamics model of ground simulation platform is obtained by analyzing dynamics model by Lagrange method;The complete dynamics model of ground simulation platform is simplified by hypothesis, and simplified dynamics model is obtained;Mass balancing is carried out to simplified dynamics model, and the spacecraft ground microgravity semi-physical simulation platform of approximate quasi-zero stiffness is obtained.The introduction of pivot system makes the system reach approximate quasi-zero stiffness, and then reconstructs microgravity environment on the ground.

The invention discloses a drag-free control verification system using a high microgravity environment, and belongs to the technical field of space tests. Based on the high microgravity environment of the freight spaceship, the non-dragging control verification platform is constructed by using the cargo compartment channel space, the non-dragging motion relative to the freight spaceship body under the weak acceleration is observed for a long time, and the non-dragging control key technology is verified in orbit in a low-cost mode. And a technical foundation is laid for major projects such as space gravitational wave detection and satellite gravitational field measurement in China.

The invention belongs to the technical field of deep space exploration ground verification, and particularly relates to a space microgravity unstructured terrain simulation platform and a test method. The platform comprises a main body truss, a translation mechanism, a lifting mechanism, a foldable supporting plane, a controller and a plurality of sets of suspension buffer mechanisms, the lifting mechanism and the foldable supporting plane are arranged at the bottom of the main body truss, and the lifting mechanism is located at the bottom of one end of the foldable supporting plane; the lifting mechanism simulates different slope environments by adjusting the height position of one end of the foldable supporting plane; the translation mechanism is arranged at the top of the main body truss and has the degree of freedom of horizontal movement in the transverse direction and the longitudinal direction; the multiple sets of suspension buffer mechanisms are connected with the translation mechanism and are used for being connected with a test robot so as to balance the gravity of the test robot; and the controller is used for controlling the translation mechanism and the lifting mechanism to move. According to the invention, efficient and high-fidelity ground verification of motion planning, a control algorithm and mechanism performance of the space mobile robot is realized.

The application discloses a microgravity simulation device and method, and relates to the technical field of ground microgravity simulation, and aims to solve the problems of high cost and short experiment duration in the prior art. The microgravity simulation device comprises a rotating driving mechanism, at least one floater and at least one container for containing a liquid medium. The rotating driving mechanism has at least one power output shaft, each floater is arranged on a corresponding power output shaft, the floater floats on the liquid medium, the center of mass of the floater is located above the liquid medium, and the distance between the geometric center of the floater and the center of mass of the floater is greater than 0. The method of the microgravity simulation device is used for simulating microgravity. The microgravity simulation device and method provided by the application are used in microgravity simulation.

The invention belongs to the technical field of spacecraft ground test equipment, and particularly relates to a microgravity simulation device for spacecraft component ground test, which comprises a base, an air floatation support mechanism, an ultrasonic standing wave stabilization mechanism, a self-adaptive clamping mechanism, a servo drive error compensation mechanism, a control system and a test platform. The air floatation supporting mechanism provides vertical non-contact supporting force to offset gravity, the ultrasonic stabilizing mechanism maintains horizontal stability, the self-adaptive clamping mechanism is adaptive to parts of multiple sizes, and the servo compensation mechanism corrects deviation in real time. The composite suspension structure is combined with PID-fuzzy closed-loop control, the simulation error is controlled within 4.0%, the defects that existing equipment is low in precision, short in time, prone to pollution and poor in universality are overcome, long-time stable simulation can be achieved, and reliable support is provided for part ground verification.

The liquid storage device comprises a liquid storage tank, a rotating ring is installed in the liquid storage tank through a bearing, a dynamic temperature measuring mechanism is arranged in the rotating ring, an L-shaped pipe is installed in the liquid storage tank through a bearing, and the interior of the L-shaped pipe is in threaded connection with a one-way valve. According to the dynamic temperature measuring mechanism, the temperature measuring probe can freely slide on the guide rod along with the floating ball, so that the temperature measuring probe is always in contact with the liquid level of the working medium, the design ensures that the temperature of the working medium body can be directly measured no matter in a gravity environment or a microgravity environment, data is more real and reliable, key parameters are provided for intelligent control of a system, and the working medium is more stable and reliable. And meanwhile, the controller can identify system abnormalities such as loop blockage and thermal load abrupt change earlier by acquiring direct temperature data in the liquid storage device in real time, so that the crossing from passive voltage stabilization to active monitoring and early warning is realized, and the reliability of the whole thermal control system is greatly improved.

The invention discloses a cubic accelerometer measurement and control circuit ground test system and method, relates to the technical field of microgravity detection, and can be used for carrying out ground experimental verification on a cubic accelerometer and verifying the correctness of the cubic accelerometer, the effectiveness of a control algorithm and the like. Through mutual cooperation of the flat accelerometer measurement and control circuit, the high-voltage driving module and the cubic accelerometer measurement and control circuit, capture control of a horizontal axis of a flat sensor is realized, and ground verification is performed on a hardware circuit and a software control algorithm of the cubic accelerometer measurement and control circuit. Based on the inherent advantages of the flat accelerometer, the ground closed loop verification of the cubic accelerometer measurement and control circuit can be realized, the method is simple and easy to implement, the in-orbit application risk of the cubic accelerometer can be effectively reduced, the in-orbit working reliability of the cubic accelerometer can be improved, and the method can better adapt to the complex space environment.

This invention discloses an experimental apparatus and method for quantifying the uncertainty of the assembly process of a large flexible module. The apparatus includes a large flexible module, a free-boundary suspension system, a non-contact motion capture system, and a disassembly / removal robotic arm. The large flexible module is the test object. The free-boundary suspension system provides boundary conditions for the free movement of the large flexible module, featuring adjustable static position and attitude, and dynamic free boundaries. The non-contact motion capture system is used to measure the position and attitude responses during the assembly process. The disassembly / removal robotic arm is used for assembling and disassembling multiple large flexible modules. The apparatus of this invention provides a ground-based experimental scheme for studying the assembly and disassembly process of large flexible modules in an on-orbit microgravity environment, and can repeat the assembly and disassembly process multiple times. The method of this invention can identify the dynamic characteristics of the structure using the vibration response generated by the large flexible module during the assembly process, and then quantify the uncertainty of the structural dynamic parameters using data from multiple assembly and disassembly processes.

The invention provides a dynamic test system of a flexible telescoping mechanism, and relates to the technical field of spaceflight, the dynamic test system of the flexible telescoping mechanism comprises a space coiling telescoping mechanism, a microgravity support unit, a mechanism driving unit and a signal acquisition unit; the space coiling telescopic mechanism is used for being suspended on the basic platform through the microgravity supporting unit, and the axial direction of the space coiling telescopic mechanism is parallel to the horizontal direction; the mechanism driving unit is used for driving the space coiling telescopic mechanism to test; and the signal acquisition unit is used for acquiring test data of the space coiling telescopic mechanism. According to the invention, the accuracy of the space coiling telescoping mechanism test can be effectively improved.

This invention discloses a method and system for foot locking and unlocking of a space-embodying intelligent humanoid robot in a microgravity environment. The system acquires foot pose and velocity information in a unified coordinate system and obtains a preset set of attachable target points on the environmental structure. The pose of the target points can be provided by a preset point library or obtained or corrected by detecting marked points using a visual sensor. Based on foot markings, left-right matching is performed on the target point set to obtain a subset of target points on the corresponding sides. Candidate target points are selected from the subset, and a locking gating criterion is constructed by combining a distance threshold, a velocity threshold, and an unlocking cooling window. When the criterion is met and locking is enabled, an equivalent rigid constraint is established between the foot and the environmental structure to achieve foot locking. This method abstracts the foot attachment process into a combinatorial embodying skill, improving the stability of microgravity contact switching and system consistency. It can be used for climbing and moving inside and outside a space station and provides stable support for subsequent operations.

The application discloses a kind of fluid in bubble mass transfer simulation device and method based on microfluidic chip.Microfluidic chip is installed on microfluidic chip fixed module, the inlet and outlet of microfluidic chip are communicated with gas-liquid mixed injection module and waste liquid collection tank respectively, microscope is used to observe the bubble preparation process in fluid in microfluidic chip, and bubble mass transfer experiment process uses industrial camera to carry out real-time imaging observation;Method includes processing microfluidic chip;Gas and liquid are injected into microfluidic chip using gas-liquid mixed injection module;Microfluidic chip carrying bubble is fixed on microfluidic chip fixed module;The process that bubble in microfluidic chip is redistributed and evolved under the influence of gravity instability is observed, and the law that bubble matures mass transfer under microgravity or supergravity condition is obtained.The application can restore the residual capture state of carbon dioxide bubble in rock pore, and has important significance for evaluating the long-term safety and stability of carbon dioxide geological storage project.

The invention provides a ground test device for simulating a detection instrument under combined conditions of microgravity, high and low temperature and vacuum. The ground test device comprises high and low temperature vacuum environment test equipment; the detector inclination angle simulation assembly is of a plate-shaped structure and simulates the bottom of the detector; the slow release device electric simulation assembly is fixed in the middle of the detector inclination angle simulation assembly; one end of the electric simulation assembly slow release rope is fixedly connected with the slow release device electric simulation assembly; the detection instrument is hung below the electric simulation assembly of the slow release device through an electric simulation assembly slow release rope; one end of the umbilical cable is fixedly connected with the detection instrument, and the other end is fixedly connected with the detector inclination angle simulation assembly; the detector inclination angle adjusting assembly adjusts the included angle between the detector inclination angle simulation assembly and the horizontal plane; and the planet surface gradient simulation assembly is used for simulating a planet surface environment. The device has the advantages that under the condition that the temperature and the vacuum environment of the device are not affected, adjustment is carried out among multiple test modes and multiple test device states.

The application discloses an active quasi-zero stiffness construction method based on nonlinear characteristic digital fitting, and steps include: a quasi-zero stiffness system completes automatic zero point calibration, a force actuator unit drives a load platform to make a low-speed quasi-static scanning within a preset stroke, displacement and static force signals are synchronously collected, and a full-stroke force-displacement data set of a support assembly is constructed; then, a numerical approximation algorithm is used for fitting the data set, a digital twin mechanical model containing a high-order nonlinear term is established, and parameters are stored in a control unit. When the system is running, a high-frequency displacement detection unit collects instantaneous displacement of the load platform in real time, the control unit calls the model to calculate a current positive stiffness restoring force, generates a negative stiffness compensation instruction, drives the actuator unit to apply a compensation force to offset the positive stiffness, and makes the system present a quasi-zero stiffness characteristic within a working stroke. The method realizes quasi-zero stiffness, has advantages of no friction, parameter self-adaptation, large dynamic range and the like, and can be widely used in scenes such as spacecraft ground microgravity simulation and high-precision constant force assembly.