冗余振动台通常采用零位线性化方法进行自由度控制和内力耦合抑制． 当系统运动范围较大时，这种近似方法会使得系统产生较大的运动误差，内力抑制效果变差． 针对此问题，文中以具有两个冗余自由度和较大运动范围的冗余驱动液压振动台为研究对象，建立系统运动学和动力学模型，分析系统的内力空间构成，提出了一种基于内力空间基底实时求解的内力耦合动态抑制策略，通过实时获取冗余自由度空间上的力并对其进行动态抑制来达到减小内力的目的． 仿真结果表明: 所提出的内力抑制策略能有效地降低冗余振动台耦合内力．

When the motion range of redundant shaking table is large,adopting the linearization near the zero position to control the degrees of freedom ( DOF) and suppress internal force coupling can result in large motion errors and poor internal force suppressing performance.In order to solve this problem,a kinematics model and a kinetic model are constructed for a redundantly-actuated hydraulic shaking table of two redundant DOFs and large motion range,and the internal force space structure of the shaking table is analyzed.Then,an internal force-coupling dynamic suppression strategy is proposed on the basis of the real-time solution of internal force space basis.In this strategy,the internal force of the shaking table is reduced by real-time acquiring and dynamically suppressing the force of redundant DOF space.Simulation results show that the proposed strategy can reduce the internal force of redundant shaking table effectively.