超冗余振动台在带负载工作时，由于负载的偏心， 其动力学模型中的质量矩阵为非对角矩阵，各个自由度之间出现动力学耦合现象．文中通过建立液压系统的非线性模型和基于空间力系分析的动力学耦合模型，得到了整体动力学仿真模型; 根据动力学耦合模型引入耦合力观测器，经过雅可比矩阵变换，将耦合力分解到各液压作动器上，视耦合力为液压系统的干扰力进行控制．在对液压系统线性化分析的基础上，确定了干扰力的顺馈补偿控制策略．仿真结果表明: 该解耦控制策略可以有效减小各自由度之间的耦合，实现对超冗余振动台的解耦控制．

During the operation of hyper- redundant shaking table under loads,the mass matrix in the dynamic modelbecomes non- diagonal due to the existence of eccentric load,which may result in the dynamic coupling among vari-ous degrees of freedom (DOF). In order to solve this problem,a dynamic model of hyper- redundant shaking table,which includes a nonlinear model of the hydraulic system and a mechanical coupling model based on the analysis ofspace force systems,is constructed.Then,a coupling force observer based on the coupling model is introduced tothe DOF control structure.Moreover,the coupling force is regarded as a disturbance force loaded on the hydraulicsystem and is controlled by distributing it to each actuator through Jacobi matrix transformation.Finally,a feedfor-ward compensation control strategy of disturbance force is given based on the linear analysis of the hydraulic sys-tem.Simulated results indicate that the proposed decoupling control strategy for hyper- redundant shaking table iseffective in reducing the coupling among various degrees of freedom.