In order to study the motion control characteristics and parameters of a 4Mecanum omnidirectional mobile platform driven by an AC servo motor, a joint simulation method of control dynamics based on UG and Matlab is proposed. The 3D dynamic model and motor servo system model of the system are established respectively, and the joint simulation model under the Simulink environment is built. The rationality of the structure and control system design is verified through simulation, and the preliminary control parameters are obtained, providing reference for the subsequent control system parameter debugging. The joint simulation results show that the structure and control system design of the system are reasonable, and the speed control accuracy of each direction can reach less than 2%, which meets the practical requirements of the project.