| A multi-component force loading platform has been developed for testing reliability of large structure equipment by Six-Dof Motion Simulation Center of Naval architecture and Ocean engineering academy of Hust which can simulate actual work loading of large structure equipment. The mass of the movable platform of Multi-Component Force loading Platform is 60t, and the overall dimension is 20m. Large mass leads to a large inertia force and large dimension leads to many error factors in platform structure parameters which is reflected as measurement errors; And steady-state error of control system and joint clearance can not be avoided. In the paper, the effect degree of the three error factors are analyzed which influence the output precision of Multi-Dof Platform in the process of docking; and the control system of position control is designed of which position precision requirement is high. It is difficult to realize docking of the movable platform flange and vehicle flange if no specific planning. Centre position control and bolt hole alignment is the key in the process of docking.Based on analysis of system errors and effectiveness of control measures of errors, and considering the process of docking control is a closed loop control, a control strategy of docking of movable platform flange and engineering vehicle flange is proposed: the position error of hinge points is regarded as disturbance input of the closed loop control; each time, add the error between actual pose and command pose to the next command pose ,then obtain the new pose error, if the pose error is larger than the prescriptive pose error ,return to the upper process until the pose error meet the demand. The control strategy is proved to be effective by the results of numerical simulation, so the docking can be implemented using this control strategy proposed upside.
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