Motion platform and control method

The invention discloses a motion platform and a control method of the motion platform, and relates to the technical field of automatic control. A two-wheel opposite distribution structure is adopted, and superposition cooperative control of an inverted pendulum control system, a control moment gyroscope and a virtual balance weight system is utilized. Aiming at an existing ground mobile platform, in the prior art, the following three characteristics cannot be simultaneously and completely realized: mobility (smooth track following capability, passing capability and obstacle crossing capability); the flexibility is generally embodied by a turning radius, and the smaller the turning radius is, the more flexible is; stability (anti-interference capability, whether the product is easy to overturn); the three characteristics are mutually exclusive, and the third characteristic is certainly weakened if one or two of the three characteristics are met. According to the invention, autonomous mobility, flexibility and