Tractor brake pedal force compensation simulator and control method

The invention relates to a tractor brake pedal force compensation simulator and a control method. The tractor brake pedal force compensation simulator comprises a torque sensor, a compensation motor, a torque transmission gear set, an oil storage tank, a brake master cylinder, a pressure simulation cavity oil return one-way valve, a second cavity oil return one-way valve, a first cavity brake control valve, a second cavity brake control valve, a front axle brake wheel cylinder diverter valve, a rear axle brake wheel cylinder diverter valve and a brake pressure source. The device comprises a first-stage simulation cylinder, a second-stage simulation cylinder, a second-stage simulation cylinder hydraulic control one-way valve, a second-stage simulation cylinder control valve, a simulation cylinder oil return collecting valve, a simulation cylinder oil return control valve, a contact displacement sensor, a brake pedal, a brake pedal force sensor, a brake pedal travel sensor, a simulator control valve and an ECU