中文摘要：

基于一类具有零扭转特性的并联机构原理并结合所设计的载荷解耦装置，设计了一种可对扭矩、弯矩、轴向力3种载荷进行复合模拟的负载模拟器；控制系统以可编程多轴运动控制器（PMAC，Programmable Multi-Axis motion Controller）为核心，通过力传感器测得的负载反馈值，采用力、位置、电流三闭环的控制策略，在有效避免系统电磁干扰噪声对传感器信号影响的同时，能够稳定地、较为准确地以正弦波的方式完成对扭矩、弯矩、轴向力等载荷的复合模拟．通过对静态加载对象复合负载模拟的现场试验，验证了本系统机构设计的合理性和控制策略的可行性．

英文摘要：

With the devised load decoupling component, a compound load simulator used to compositely simulate loads like bending moment, axial force and torque was designed based on the principle of a kind of zero-torsion parallel mechanism. The core of its control system was a programmable multi-axis motion control ler （PMAC）. By load feedbacks from force or torque sensors, the system can realize the load simulation of torque, bending moment or axial force in the form of sine wave with the control method of triple close-loops in cluding force, position and current. Meanwhile, it can effectively avoid the influences to the sensors＇ signal from system electromagnetic interference. Some field tests of compound load simulation were made to validate the correctness of the mechanical design and the control method.