The NanShan Radio Telescope is a 26-m fully steerable radio telescope, and it adopts a 6-UPU Stewart platform with electric motors to adjust and align the position of the subreflector. In order to analyze the actual dynamic performance and control the Stewart platform of the NanShan Radio Telescope, this article models the inverse dynamic of the Stewart platform using the virtual work approach. The model improves the accuracy of the dynamic equations and considered the pitching motion of the base platform in the practical application of the radio telescope. Dynamic simulations of the Stewart platform are implemented, the conditions of the passive rotation of the piston of actuators are considered, and the results show that the effect of the passive rotation of the pistons of the actuators is important to obtain more accurate result. The conditions of the system under the different elevation angles of the radio telescope are also considered, and the results show that the change of the elevation angles of the radio telescope has a great impact on the driving forces of the Stewart platform. It is known from the analysis that the passive rotation of pistons of actuators and the elevation movement of the primary reflector of the radio telescope are not ignorable for the precise analysis and control of the Stewart platform of the NanShan Radio Telescope.

NanShan射电望远镜是26米的完全可操纵射电望远镜，它采用带有电动马达的6-UPU Stewart平台来调整和对准副反射镜的位置。为了分析实际的动态性能并控制南山射电望远镜的Stewart平台，本文使用虚拟工作方法对Stewart平台的逆动态进行建模。该模型提高了动力学方程的精度，并在射电望远镜的实际应用中考虑了基础平台的俯仰运动。对Stewart平台进行了动态仿真，考虑了执行机构活塞被动旋转的条件，结果表明，执行机构活塞被动旋转的效果对于获得更精确的结果很重要。还考虑了射电望远镜不同仰角条件下的系统条件，结果表明射电望远镜仰角的变化对斯图尔特平台的驱动力有很大影响。通过分析得知，对于南山射电望远镜的Stewart平台的精确分析和控制，执行器活塞的被动旋转和射电望远镜的主反射镜的抬升运动是不可忽略的。